diff --git a/.gitignore b/.gitignore
index 9a786e95..f1522d25 100644
--- a/.gitignore
+++ b/.gitignore
@@ -30,3 +30,8 @@ data/vavam-driver/*
 # uv.lock is only used in local development. On the server, we use uv tool run,
 # which does not require uv.lock.
 **/uv.lock
+
+# local dir
+my_run/
+outputs/
+logs/
diff --git a/pyproject.toml b/pyproject.toml
index 2732f597..b9a8e34c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -17,6 +17,7 @@ members = [
   "src/physics",
   "src/tools",
   "src/driver",
+  "src/render",
 ]
 
 # This is a hacky workaround to skip installing flash attention
diff --git a/src/grpc/alpasim_grpc/v0/sensorsim.proto b/src/grpc/alpasim_grpc/v0/sensorsim.proto
index d4184ef5..7568989c 100644
--- a/src/grpc/alpasim_grpc/v0/sensorsim.proto
+++ b/src/grpc/alpasim_grpc/v0/sensorsim.proto
@@ -188,7 +188,18 @@ message RGBRenderRequest {
     fixed64 frame_start_us = 5;
     fixed64 frame_end_us = 6;
 
-    PosePair sensor_pose = 7;
+    // Deprecated: Use ego_pose instead. sensor_pose is camera pose in world frame.
+    // Kept for backward compatibility. If ego_pose is provided, it will be used instead.
+    PosePair sensor_pose = 7 [deprecated = true];
+
+    // Ego vehicle pose in world frame (preferred for MTGS renderer)
+    // If provided, this will be used instead of deriving from sensor_pose
+    PosePair ego_pose = 13;
+
+    // Rig to camera transformation (camera pose relative to ego/rig frame)
+    // If provided, this will be used for accurate camera2ego transformation
+    // If not provided, will be loaded from asset folder or data_source
+    common.Pose rig_to_camera = 14;
 
     repeated DynamicObject dynamic_objects = 8;
 
diff --git a/src/render/__init__.py b/src/render/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/src/render/base_renderer.py b/src/render/base_renderer.py
new file mode 100644
index 00000000..e6cb9523
--- /dev/null
+++ b/src/render/base_renderer.py
@@ -0,0 +1,49 @@
+from abc import ABC
+from dataclasses import dataclass, field
+from functools import cached_property
+from typing import Dict, List, Optional, Tuple, Type, Union, Any
+from typing_extensions import Literal
+
+import torch
+from torch.nn import Module, Parameter
+
+
+class RenderState(dict):
+    CAMERAS = "cameras"
+    LIDAR = "lidar"
+    AGENT_STATE = "agent_state"   # {object_id: np.ndarray([x, y, heading])}
+    TIMESTAMP = "timestamp"
+
+
+class BaseRenderer(ABC):
+
+    def __init__(
+        self,
+        device: str = "cuda" if torch.cuda.is_available() else "cpu",
+    ):
+        self.device = device
+        self.__from_scratch__()
+
+    def __from_scratch__(self):
+        self.sensors = None
+
+    def _check_for_reliance(self):
+        if self.background_asset is None:
+            raise ValueError("No background asset set for renderer.")
+
+    def reset(self):
+        self.__from_scratch__()
+
+    @property
+    def background_asset(self):
+        return None
+
+    def set_asset(self, asset):
+        pass
+
+    def render(self, render_state: RenderState):
+        pass
+
+    def physical_world(self, agent_state):
+        # [x, y, heading]
+        raise NotImplementedError
\ No newline at end of file
diff --git a/src/render/pyproject.toml b/src/render/pyproject.toml
new file mode 100644
index 00000000..5777bbad
--- /dev/null
+++ b/src/render/pyproject.toml
@@ -0,0 +1,41 @@
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "alpasim_render"
+version = "0.1.0"
+description = "DigitalTwin renderer module for Alpasim"
+requires-python = ">=3.11,<3.12"
+dependencies = [
+    "torch>=2.0.0",
+    "numpy>=1.24.0",
+    "opencv-python>=4.8.0",
+    "pyquaternion>=0.9.0",
+    "gsplat>=1.0.0",
+    "alpasim_utils",  # For geometry_utils and other utilities
+]
+
+authors = [
+    {name = "Alpasim Team"},
+]
+
+[tool.uv.sources]
+alpasim_utils = {workspace = true}
+
+# Note: render module uses 'src.render' and 'src.utils' import path structure
+# The module structure is:
+#   - src/render/base_renderer.py -> src.render.base_renderer
+#   - src/render/src/digitaltwin.py -> src.render.src.digitaltwin
+#   - src/render/src/utils/ -> src.utils (gaussian_utils, portable_utils)
+#   - src/render/src/gaussian_model/ -> src.gaussian_model
+
+# Package discovery configuration
+# render module has a special structure where:
+# - base_renderer.py is at the root of render/
+# - src/ subdirectory contains the main code
+# - src/utils/ contains utilities that are imported as src.utils.*
+[tool.setuptools.packages.find]
+where = ["."]
+include = ["src*"]
+exclude = ["tests*", "*.tests*"]
diff --git a/src/render/src/__init__.py b/src/render/src/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/src/render/src/gaussian_model/__init__.py b/src/render/src/gaussian_model/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/src/render/src/gaussian_model/rigid_object.py b/src/render/src/gaussian_model/rigid_object.py
new file mode 100644
index 00000000..0b7d7b89
--- /dev/null
+++ b/src/render/src/gaussian_model/rigid_object.py
@@ -0,0 +1,152 @@
+import logging
+
+import torch
+from torch.nn import Parameter, Module
+try:
+    from gsplat.cuda._wrapper import spherical_harmonics
+except ImportError:
+    print("Please install gsplat>=1.0.0")
+
+from ..utils.gaussian_utils import quat_mult, quat_to_rotmat, interpolate_quats, IDFT
+from .vanilla_gaussian_splatting import VanillaPortableGaussianModel
+logger = logging.getLogger(__name__)
+
+class RigidPortableSubModel(VanillaPortableGaussianModel):
+    """Portable Gaussian Splatting model
+
+    Args:
+        asset: portable Gaussian Model with config include
+               - type
+               - sh_degree
+               - scale_dim
+               - fourier_features_dim
+               - fourier_features_scale
+               - fourier_in_space
+               - log_timestamps
+    """
+    MODEL_TYPE = "rigid"
+
+    def __init__(self, **kwargs):
+        self.log_replay = kwargs.get("log_replay", False)
+        super().__init__(**kwargs)
+        # TODO
+        # self.visible_range = kwargs.get("visible_range", None)
+    
+    def _update_default_config(self, config):
+        config = super()._update_default_config(config)
+        config["fourier_features_dim"] = config.get("fourier_features_dim", None)
+        config["fourier_features_scale"] = config.get("fourier_features_scale", 1.0)
+        config["fourier_in_space"] = config.get("fourier_in_space", 'temporal')
+        config["log_timestamps"] = config.get("log_timestamps", None)
+        return config
+
+    def load_state_dict(self, dict: dict):
+        super().load_state_dict(dict)
+        self.exist_log = ('instance_trans' in dict.keys())
+        if self.exist_log:
+            self.log_trans = Parameter(dict['instance_trans'].squeeze())
+            self.log_quats = Parameter(dict['instance_quats'].squeeze())
+            self.static_in_log = (self.log_trans.dim() == 1)
+            if not self.static_in_log:
+                assert getattr(self.config, "log_timestamps", None) is not None
+                self.log_start_time = self.config.log_timestamps.min().item()
+                self.log_timestamps = self.config.log_timestamps.squeeze() - self.log_start_time
+
+                # TODO:
+                # maybe make some transition trajectories at the beginning and the ending to avoid sudden appearance or disappearance
+            
+            log_type = "static" if self.static_in_log else "dynamic"
+            logger.debug(f"Log pose for `{self.model_name_abbr}` loaded. LOG TYPE: `{log_type}`")
+            if self.log_replay:
+                logger.debug(f"Log replay for `{self.model_name_abbr}` enabled.")
+
+    def set_static_force(self):
+        self.static_in_log = True
+        in_frame_mask = self.log_trans[:, 2] < 1000
+        self.log_trans = Parameter(self.log_trans[in_frame_mask][0])
+        self.log_quats = Parameter(self.log_quats[in_frame_mask][0])
+
+    def get_means(self, global_quat, global_trans):
+        local_means = self.gauss_params['means']
+        rot_cur_frame = quat_to_rotmat(global_quat[None, ...])[0, ...]
+        self.global_means = local_means @ rot_cur_frame.T + global_trans
+        return self.global_means
+
+    def get_quats(self, global_quat, global_trans=None):
+        local_quats = self.quats / self.quats.norm(dim=-1, keepdim=True)
+        global_quats = quat_mult(global_quat[None, ...], local_quats)
+        return global_quats
+
+    def get_fourier_features(self, x):
+        scaled_x = x * self.config.fourier_features_scale
+        input_is_normalized = (self.config.fourier_in_space == 'temporal')
+        idft_base = IDFT(scaled_x, self.config.fourier_features_dim, input_is_normalized).to(self.device)
+        return torch.sum(self.features_dc * idft_base[..., None], dim=1, keepdim=False)
+    
+    def get_true_features_dc(self, timestamp=None, cam_obj_yaw=None):
+        if self.config.fourier_features_dim is None:
+            return self.features_dc
+        normalized_x = timestamp if self.config.fourier_in_space == 'temporal' else cam_obj_yaw
+        assert normalized_x is not None
+        return self.get_fourier_features(normalized_x)
+
+    def get_gaussian_rgbs(self, camera_to_worlds, timestamp, device=None):
+        device = device if device is not None else self.device
+        assert device != torch.device("cpu"), "`sphereical_harmonics` in `gsplat` only supports CUDA"
+        true_features_dc = self.get_true_features_dc(timestamp, None)
+        colors = torch.cat((true_features_dc[:, None, :], self.features_rest), dim=1).to(device)
+        if self.sh_degree > 0:
+            viewdirs = self.global_means.detach().to(device) - camera_to_worlds[..., :3, 3].to(device)  # (N, 3)
+            viewdirs = viewdirs / viewdirs.norm(dim=-1, keepdim=True)
+            rgbs = spherical_harmonics(self.sh_degree, viewdirs, colors)
+            rgbs = torch.clamp(rgbs + 0.5, 0.0, 1.0)
+        else:
+            rgbs = torch.sigmoid(colors[:, 0, :])
+
+        return rgbs
+
+    def get_opacity(self):
+        return torch.sigmoid(self.gauss_params['opacities']).squeeze(-1)
+
+    def _get_log_pose_from_timestamp(self, timestamp):
+        self.log_timestamps = self.log_timestamps.to(self.device)
+        relative_timestamp = timestamp - self.log_start_time
+
+        diffs = relative_timestamp - self.log_timestamps
+        prev_frame = torch.argmin(torch.where(diffs >= 0, diffs, float('inf')))
+        next_frame = torch.argmin(torch.where(diffs <= 0, -diffs, float('inf')))
+
+        if next_frame == prev_frame:
+            # Timestamp exactly matches a frame, no interpolation needed
+            return self.log_quats[next_frame], self.log_trans[next_frame], timestamp
+
+        # Calculate interpolation factor
+        t = (relative_timestamp - self.log_timestamps[prev_frame]) / (self.log_timestamps[next_frame] - self.log_timestamps[prev_frame])
+        
+        # Interpolate quaternions (using slerp) and translations
+        quat_interp = interpolate_quats(self.log_quats[prev_frame], self.log_quats[next_frame], t).squeeze()
+        trans_interp = torch.lerp(self.log_trans[prev_frame], self.log_trans[next_frame], t)
+
+        return quat_interp, trans_interp, timestamp
+    
+    def _decide_global_pose(self, quat=None, trans=None, timestamp=None):
+        if self.static_in_log:
+            return self.log_quats, self.log_trans, timestamp        
+        if quat is not None and trans is not None:
+            assert quat.shape == (4,) and trans.shape == (3,)
+            return quat.float(), trans.float(), timestamp
+        return self._get_log_pose_from_timestamp(timestamp)
+
+    def get_global_gaussians(self, quat=None, trans=None, timestamp=None, **kwargs):
+        quat, trans, timestamp = self._decide_global_pose(
+                                        quat=quat,
+                                        trans=trans,
+                                        timestamp=timestamp,
+                                    )
+
+        return {
+            "means": self.get_means(global_trans=trans, global_quat=quat),
+            "scales": self.get_scales(),
+            "quats": self.get_quats(global_trans=trans, global_quat=quat),
+            "opacities": self.get_opacity(),
+        }
diff --git a/src/render/src/gaussian_model/rigid_object_mirrored.py b/src/render/src/gaussian_model/rigid_object_mirrored.py
new file mode 100644
index 00000000..846920f9
--- /dev/null
+++ b/src/render/src/gaussian_model/rigid_object_mirrored.py
@@ -0,0 +1,83 @@
+import torch
+try:
+    from gsplat.cuda._wrapper import spherical_harmonics
+except ImportError:
+    print("Please install gsplat>=1.0.0")
+
+from ..utils.gaussian_utils import quat_mult, quat_to_rotmat
+from .rigid_object import RigidPortableSubModel
+
+
+def flip_spherical_harmonics(coeff):
+    """
+    Flip the spherical harmonics coefficients along the y-axis.
+
+    Args:
+        coeff (torch.Tensor): A tensor of shape [N, 16, 3], where N is the number of Gaussians,
+                              16 is the number of spherical harmonics coefficients (up to degree l=3),
+                              and 3 is the feature dimension.
+
+    Returns:
+        torch.Tensor: The flipped spherical harmonics coefficients.
+    """
+    # Indices corresponding to m < 0 for l up to 3
+    indices_m_negative = [1, 4, 5, 9, 10, 11]
+
+    # Create a flip factor tensor of ones and minus ones
+    flip_factors = torch.ones(coeff.shape[1], device=coeff.device)
+    flip_factors[indices_m_negative] = -1
+
+    # Reshape flip_factors to [1, 16, 1] for broadcasting
+    flip_factors = flip_factors.view(1, -1, 1)
+
+    # Apply the flip factors to the coefficients
+    flipped_coeff = coeff * flip_factors
+
+    return flipped_coeff
+
+
+class MirroredRigidPortableSubModel(RigidPortableSubModel):
+    MODEL_TYPE = "mirrored"
+
+    def get_means(self, global_quat, global_trans):
+        local_means: torch.Tensor = self.gauss_params['means']
+        local_means = local_means.unsqueeze(0).repeat(2, 1, 1)
+        local_means[1, :, :] = local_means[1, :, :] * local_means.new_tensor([1, -1, 1]).view(1, 3)  # flip y
+        local_means = local_means.view(-1, 3)
+
+        rot_cur_frame = quat_to_rotmat(global_quat[None, ...])[0, ...]
+        self.global_means = local_means @ rot_cur_frame.T + global_trans
+        return self.global_means
+
+    def get_quats(self, global_quat, global_trans=None):
+        local_quats = self.quats / self.quats.norm(dim=-1, keepdim=True)
+        local_quats = local_quats.unsqueeze(0).repeat(2, 1, 1)
+        local_quats[1, :, :] = local_quats[1, :, :] * local_quats.new_tensor([1, -1, 1, -1]).view(1, 4)  # flip quats at y axis
+        local_quats = local_quats.view(-1, 4)
+
+        global_quats = quat_mult(global_quat[None, ...], local_quats)
+        return global_quats
+
+    def get_scales(self):
+        return torch.exp(self.scales).repeat(2, 1)
+
+    def get_gaussian_rgbs(self, camera_to_worlds, timestamp, device=None):
+        device = device if device is not None else self.device
+        assert device != torch.device("cpu"), "`sphereical_harmonics` in `gsplat` only supports CUDA"
+        true_features_dc = self.get_true_features_dc(timestamp, None)
+        colors = torch.cat((true_features_dc[:, None, :], self.features_rest), dim=1).to(device)
+        colors = colors.unsqueeze(0).repeat(2, 1, 1, 1)
+        colors[1, ...] = flip_spherical_harmonics(colors[1, ...])
+        colors = colors.view(-1, 16, 3)
+        if self.sh_degree > 0:
+            viewdirs = self.global_means.detach().to(device) - camera_to_worlds[..., :3, 3].to(device)  # (C, N, 3)
+            viewdirs = viewdirs / viewdirs.norm(dim=-1, keepdim=True)
+            rgbs = spherical_harmonics(self.sh_degree, viewdirs, colors)
+            rgbs = torch.clamp(rgbs + 0.5, 0.0, 1.0)
+        else:
+            rgbs = torch.sigmoid(colors[:, 0, :])
+
+        return rgbs
+
+    def get_opacity(self):
+        return torch.sigmoid(self.gauss_params['opacities']).squeeze(-1).repeat(2)
diff --git a/src/render/src/gaussian_model/vanilla_gaussian_splatting.py b/src/render/src/gaussian_model/vanilla_gaussian_splatting.py
new file mode 100644
index 00000000..336a41fe
--- /dev/null
+++ b/src/render/src/gaussian_model/vanilla_gaussian_splatting.py
@@ -0,0 +1,175 @@
+from typing import Dict, List, Optional, Tuple, Type, Union, Any
+
+import numpy as np
+import torch
+from torch.nn import Parameter, Module
+
+try:
+    from gsplat.cuda._wrapper import spherical_harmonics
+except ImportError:
+    print("Please install gsplat>=1.0.0")
+
+class VanillaPortableGaussianModel(torch.nn.Module):
+    """Portable Gaussian Splatting model
+
+    Args:
+        asset: portable Gaussian Model with config include
+               - type
+               - sh_degree
+               - scale_dim
+    """
+    MODEL_TYPE = "vanilla"
+
+    def __init__(
+        self,
+        asset: Any,
+        model_name: Optional[str] = None,
+        **kwargs,
+    ):
+        super().__init__()
+        self.eval()
+        self.model_type = self.MODEL_TYPE
+        self.model_name = model_name
+        self.config = self._update_default_config(asset.config)
+        self._init_gauss_params()
+        self.load_state_dict(asset.state_dict)
+
+    def _update_default_config(self, config):
+        config["sh_degree"] = config.get("sh_degree", None)
+        config["scale_dim"] = config.get("scale_dim", 3)
+        return config
+
+    def _init_gauss_params(self):
+        self.gauss_params = torch.nn.ParameterDict({
+            "means": None,
+            "scales": None,
+            "quats": None,
+            "features_dc": None,
+            "features_rest": None,
+            "opacities": None,
+        })
+
+    def load_state_dict(self, dict: dict):
+        for name in self.gauss_params.keys():
+            if "gauss_params" in dict:
+                self.gauss_params[name] = Parameter(dict["gauss_params"][name])
+            else:
+                self.gauss_params[name] = Parameter(dict[f"gauss_params.{name}"])
+
+    def get_isotropic_quats(self, num_points):
+        quats = torch.zeros(num_points, 4)
+        quats[:, 0] = 1.0
+        return quats.to(self.device)
+
+    @property
+    def device(self):
+        return self.gauss_params["means"].device
+
+    @property
+    def sh_degree(self):
+        return self.config.sh_degree
+    
+    @property
+    def num_points(self):
+        return self.means.shape[0]
+
+    @property
+    def means(self) -> torch.nn.Parameter:
+        return self.gauss_params["means"]
+
+    @property
+    def scales(self) -> torch.nn.Parameter:
+        if self.config.scale_dim == 3:
+            return self.gauss_params["scales"]
+        elif self.config.scale_dim == 1:
+            return self.gauss_params["scales"].repeat(1, 3)
+
+    @property
+    def quats(self) -> torch.nn.Parameter:
+        if self.config.scale_dim == 3:
+            return self.gauss_params["quats"]
+        elif self.config.scale_dim == 1:
+            return self.get_isotropic_quats(self.num_points)
+
+    @property
+    def features_dc(self) -> torch.nn.Parameter:
+        return self.gauss_params["features_dc"]
+
+    @property
+    def features_rest(self) -> torch.nn.Parameter:
+        return self.gauss_params["features_rest"]
+
+    @property
+    def opacities(self) -> torch.nn.Parameter:
+        return self.gauss_params["opacities"]
+
+    @property
+    def model_name_abbr(self):
+        return self.model_name.split("_")[-1]
+
+    def get_means(self):
+        return self.gauss_params['means']
+
+    def get_scales(self):
+        return torch.exp(self.scales)
+
+    def get_quats(self): 
+        quats = self.quats
+        return quats / quats.norm(dim=-1, keepdim=True)
+
+    def get_opacity(self):
+        return torch.sigmoid(self.gauss_params['opacities']).squeeze(-1)
+    
+    def get_gaussian_rgbs(self, camera_to_worlds, device=None, **kwargs):
+        device = device if device is not None else self.device
+        assert device != torch.device("cpu"), "`sphereical_harmonics` in `gsplat` only supports CUDA"
+        assert self.features_dc.dim() == 2, \
+            "if Fourier embedding is used in models derived from `VanillaPortableGaussianModel`, a new `get_gaussian_rgbs` function must be implemented"
+        colors = torch.cat((self.features_dc[:, None, :], self.features_rest), dim=1).to(device)
+        if self.sh_degree > 0:
+            viewdirs = self.means.detach().to(device) - camera_to_worlds[..., :3, 3].to(device)  # (N, 3)
+            viewdirs = viewdirs / viewdirs.norm(dim=-1, keepdim=True)
+            rgbs = spherical_harmonics(self.sh_degree, viewdirs, colors)
+            rgbs = torch.clamp(rgbs + 0.5, 0.0, 1.0)
+        else:
+            rgbs = torch.sigmoid(colors[:, 0, :])
+        
+        return rgbs
+
+    def get_global_gaussians(self, **kwargs):
+
+        return {
+            "means": self.get_means(),
+            "scales": self.get_scales(),
+            "quats": self.get_quats(),
+            "opacities": self.get_opacity(),
+        }
+
+    def get_gaussian_params(self, **kwargs):
+        raise ValueError("Should not be called.")
+
+    def get_gaussian_param_groups(self) -> Dict[str, List[Parameter]]:
+        raise ValueError("Should not be called.")
+
+    def get_param_groups(self) -> Dict[str, List[Parameter]]:
+        raise ValueError("Should not be called.")
+
+    def k_nearest_sklearn(self, x: torch.Tensor, k: int):
+        """
+            Find k-nearest neighbors using sklearn's NearestNeighbors.
+        x: The data tensor of shape [num_samples, num_features]
+        k: The number of neighbors to retrieve
+        """
+        # Convert tensor to numpy array
+        x_np = x.cpu().numpy()
+
+        # Build the nearest neighbors model
+        from sklearn.neighbors import NearestNeighbors
+
+        nn_model = NearestNeighbors(n_neighbors=k + 1, algorithm="auto", metric="euclidean").fit(x_np)
+
+        # Find the k-nearest neighbors
+        distances, indices = nn_model.kneighbors(x_np)
+
+        # Exclude the point itself from the result and return
+        return distances[:, 1:].astype(np.float32), indices[:, 1:].astype(np.float32)
\ No newline at end of file
diff --git a/src/render/src/mtgs.py b/src/render/src/mtgs.py
new file mode 100644
index 00000000..d8afd4b9
--- /dev/null
+++ b/src/render/src/mtgs.py
@@ -0,0 +1,583 @@
+from __future__ import annotations
+import logging
+from dataclasses import dataclass, field
+from functools import cached_property
+from typing import Dict, List, Optional, Tuple, Type, Union, Any
+from typing_extensions import Literal
+from pathlib import Path
+
+import numpy as np
+import cv2
+from pyquaternion import Quaternion
+import torch
+
+try:
+    from gsplat.rendering import rasterization
+except ImportError:
+    print("Please install gsplat>=1.0.0")
+
+from src.utils.alpasim_utils.geometry_utils import Sim2
+from src.render.base_renderer import BaseRenderer, RenderState
+from src.render.src.utils.gaussian_utils import matrix_to_quaternion, quat_to_rotmat, quat_to_angle
+from src.render.src.utils.portable_utils import convert_to_attribute_dict, AttrDict
+from src.render.src.gaussian_model.vanilla_gaussian_splatting import VanillaPortableGaussianModel as VanillaModel
+from src.render.src.gaussian_model.rigid_object import RigidPortableSubModel as RigidModel
+from src.render.src.gaussian_model.rigid_object_mirrored import MirroredRigidPortableSubModel as MirroredModel
+
+logger = logging.getLogger(__name__)
+
+MODEL_MAPPING = {
+    "VanillaGaussianSplattingModel": VanillaModel,
+    "SkyboxGaussianSplattingModel": VanillaModel,
+    "RigidSubModel": RigidModel,
+    "MirroredRigidSubModel": MirroredModel,
+    "DeformableSubModel": None,
+}
+
+def auto_submodel(atom_asset):
+    if not isinstance(atom_asset, AttrDict):
+        atom_asset = convert_to_attribute_dict(atom_asset)
+    original_model_type = atom_asset.config.type
+    return MODEL_MAPPING[original_model_type]
+
+
+class MTGS(BaseRenderer):
+    def __init__(
+        self,
+        *args,
+        asset_folder_path: Union[str, Path],
+        enable_collider: bool = False,
+        render_depth: bool = False,
+        rasterize_mode: Literal["classic", "antialiased"] = "classic",
+        radius_clip: float = 0.,
+        background_color: Union[Literal["random", "black", "white"], Tuple] = "black",
+        **kwargs
+    ):
+        super().__init__(*args, **kwargs)
+        self.enable_collider = enable_collider
+        self.render_depth = render_depth
+        self.rasterize_mode = rasterize_mode
+        self.radius_clip = radius_clip
+        self.bg_color = self._init_background_color(background_color)
+        self.asset_manager = MTGSAssetManager(Path(asset_folder_path), self.device)
+        self.sensor_caches = None
+        self.world_to_nre = None  
+
+    def _init_background_color(self, background_color):
+        if isinstance(background_color, str):
+            if background_color == "random":
+                background = torch.rand(3, device=self.device)
+            elif background_color == "white":
+                background = torch.ones(3, device=self.device)
+            elif background_color == "black":
+                background = torch.zeros(3, device=self.device)
+            else:
+                raise ValueError(f"Unknown background color {background_color}")
+            return background
+        elif isinstance(background_color, tuple):
+            assert len(background_color) == 3
+            for color in background_color:
+                assert 0 <= color <= 255
+            return torch.tensor(background_color, device=self.device).float() / 255.
+
+    @property
+    def background_color(self) -> torch.Tensor:
+        return self.bg_color.to(self.device)
+
+    def _prepare_metas(self):
+        self.model_types = {}
+        self.node_types = {}
+        self.submodel_names = {}
+        self.timestamp = None
+        self.sensor_mapping = {}
+    
+    def _init_gaussian_models(self):
+        if hasattr(self, "gaussian_models"):
+            del self.gaussian_models
+            torch.cuda.empty_cache()
+        self.gaussian_models = torch.nn.ParameterDict()
+
+    @cached_property
+    def background_asset(self):
+        return self.gaussian_models["background"]
+
+    @property
+    def num_submodels(self):
+        return len(self.node_types.keys())
+
+    @property
+    def num_cameras(self):
+        return len(self.sensor_mapping.keys())
+
+    def reset(self, current_scene_id, asset_id: Optional[str] = None, **kwargs):
+        """
+        Reset the renderer for a new scene.
+        
+        Args:
+            current_scene_id: Scene ID
+            asset_id: Optional asset ID. If None, uses current_scene_id
+        """
+        # Use provided asset_id or fall back to scene_id
+        if asset_id is None:
+            asset_id = current_scene_id
+
+        reset_asset = self.asset_manager.reset(asset_id)
+        if reset_asset:
+            self._prepare_metas()
+            self._init_gaussian_models()
+            self.set_asset(self.asset_manager.background_asset_dict)
+            # Note: calibrate_agent_state now requires ego2globals to be passed explicitly
+            # This will be called separately with the required data
+            self.sensor_caches = None
+        
+        # Reset world_to_nre when changing scenes
+        self.world_to_nre = None
+        
+        # Mark as initialized for this scene
+        self._scene_id = current_scene_id
+        self._initialized = True
+        logger.info(f"Renderer reset completed for scene {current_scene_id} (asset: {asset_id})")
+
+    def set_world_to_nre(self, world_to_nre: np.ndarray):
+        self.world_to_nre = world_to_nre
+        logger.info(f"Set world_to_nre transformation: translation={world_to_nre[:3, 3]}")
+    
+    def calibrate_agent_state(self, ego2globals: Optional[torch.Tensor] = None):
+        """
+        Get the agent states in the reconstruction.
+        
+        Args:
+            ego2globals: Optional array/tensor of shape [N, 4, 4] containing ego-to-global transformation matrices.
+                        Can be numpy array or torch.Tensor. If None, will try to extract from loaded gaussian models.
+        
+        Returns:
+            Dictionary mapping agent IDs to their states (translation and rotation)
+        """
+        mtgs_agent2states = {}
+        
+        # Handle ego state from ego2globals if provided
+        if ego2globals is not None:
+            # Convert to torch tensor if it's a numpy array
+            if isinstance(ego2globals, np.ndarray):
+                ego2globals_tensor = torch.tensor(ego2globals, dtype=torch.float64, device=self.device)
+            else:
+                # Already a torch tensor, just ensure correct dtype and device
+                ego2globals_tensor = ego2globals.to(dtype=torch.float64, device=self.device)
+            
+            if ego2globals_tensor.ndim == 2:
+                ego2globals_tensor = ego2globals_tensor.unsqueeze(0)  # Add batch dimension if needed
+            
+            # Extract translation and rotation from ego2globals
+            # Directly use them without any transformation (matching WorldEngine's behavior)
+            mtgs_ego2globals_trans = ego2globals_tensor[:, :3, 3]
+            mtgs_ego2globals_quat = matrix_to_quaternion(ego2globals_tensor[:, :3, :3])
+            
+            mtgs_agent2states['ego'] = {
+                'translation': mtgs_ego2globals_trans,
+                'rotation': mtgs_ego2globals_quat,
+            }
+
+        # Extract agent states from loaded gaussian models
+        for asset_token, model_name in self.submodel_names.items():
+            if self.node_types[asset_token] != 'na':
+                continue
+
+            if self.gaussian_models[model_name].static_in_log:
+                continue
+
+            in_frame_mask = self.gaussian_models[model_name].log_trans[:, 2] < 1000
+
+            mtgs_agent2states[asset_token] = {
+                'translation': self.gaussian_models[model_name].log_trans[in_frame_mask].double(),
+                'rotation': self.gaussian_models[model_name].log_quats[in_frame_mask].double(),
+            }
+        return mtgs_agent2states
+
+    def get_submodel_name(self, token):
+        node_type = self.node_types[token]
+        if len(node_type) > 3:
+            return token
+        model_type = self.model_types[token]
+        return f"{node_type}_{model_type}_{token}"
+    
+    def set_asset(self, asset):
+        is_background = ("background" in asset.keys())
+        if is_background:
+            self.recon2global_translation = asset['background']['config']['recon2world_translation']
+
+        asset_type = "background" if is_background else "foreground"
+        for asset_name in asset.keys():
+            logger.debug(f"Loading {asset_type} asset <{asset_name}>...")
+            sub_asset = convert_to_attribute_dict(asset[asset_name])
+            asset_class = auto_submodel(sub_asset)
+            asset_token = asset_name.split("_")[-1]
+            if asset_token in ["background", "skybox"]:
+                self.node_types[asset_token] = asset_token
+            else:
+                self.node_types[asset_token] = "na" if is_background else "ia"
+                # short for `native agent` and `inserted agent` respectively
+
+            self.model_types[asset_token] = asset_class.MODEL_TYPE
+            model_name = self.get_submodel_name(asset_token)
+            self.submodel_names[asset_token] = model_name
+            self.gaussian_models[model_name] = asset_class(
+                asset=sub_asset,
+                model_name=model_name
+            )
+
+    @staticmethod
+    def get_transform_matrix(rotation, translation):
+        if not isinstance(rotation, np.ndarray):
+            rotation = rotation.cpu().numpy()
+        if not isinstance(translation, np.ndarray):
+            translation = translation.cpu().numpy()
+        if rotation.ndim == 1:
+            # is quaternion
+            rotation = Quaternion(rotation).rotation_matrix
+        if translation.ndim == 1:
+            # change to column vector
+            translation = np.expand_dims(translation, axis=-1)
+        if rotation.ndim == 2:
+            rotation = np.expand_dims(rotation, axis=0)
+            translation = np.expand_dims(translation, axis=0)
+
+        transform = np.tile(np.eye(4), (rotation.shape[0], 1, 1))
+        transform[:, :3, :3] = rotation
+        transform[:, :3, 3:4] = translation
+        return torch.from_numpy(transform).float()
+
+    def set_sensors(self, sensors, ego2global):
+        if self.sensor_caches is not None:
+            camera_to_egos, intrinsics, map_inverse_distorts, hw_dict = self.sensor_caches
+            camera_to_worlds = torch.einsum("ij,bjk->bik", ego2global, camera_to_egos)
+            return camera_to_worlds, intrinsics, map_inverse_distorts, hw_dict
+
+        self.sensor_mapping = {}
+        sensor2egos = []
+        intrinsics = []
+        map_inverse_distorts = []
+        height, width = None, None
+        for idx, (cam_name, cam_info) in enumerate(sensors.items()):
+            self.sensor_mapping[cam_name] = idx
+            sensor2ego = self.get_transform_matrix(
+                rotation=cam_info["sensor2ego_rotation"], 
+                translation=cam_info["sensor2ego_translation"]
+            ).squeeze().to(self.device)             # 4 x 4
+
+            intrinsic = np.array(cam_info["intrinsic"])
+            distortion = np.array(cam_info["distortion"])
+            new_intrinsic, roi = cv2.getOptimalNewCameraMatrix(
+                intrinsic, distortion, (cam_info["width"], cam_info["height"]), 1
+            )
+            map_inverse_distort = cv2.initInverseRectificationMap(
+                intrinsic, distortion, None, new_intrinsic, (cam_info["width"], cam_info["height"]), cv2.CV_32FC1
+            )
+
+            intrinsic_torch = torch.from_numpy(new_intrinsic).float().to(self.device).squeeze()
+            sensor2egos.append(sensor2ego)
+            intrinsics.append(intrinsic_torch)
+            map_inverse_distorts.append(map_inverse_distort)
+
+            assert (height is None) or (height == cam_info["height"]), "inconsistent height among RGB cameras"
+            assert (width is None) or (width == cam_info["width"]), "inconsistent width among RGB cameras"
+            height, width = cam_info["height"], cam_info["width"]
+
+        sensor2egos = torch.stack(sensor2egos, dim=0)      # C x 4 x 4
+        intrinsics = torch.stack(intrinsics, dim=0)     # C x 3 x 3
+        height = height if isinstance(height, int) else height.item()
+        width = width if isinstance(width, int) else width.item()
+        self.sensor_caches = (sensor2egos, intrinsics, map_inverse_distorts, {"height": height, "width": width})
+
+        camera_to_worlds = torch.einsum("ij,bjk->bik", ego2global, sensor2egos)
+        return camera_to_worlds, intrinsics, map_inverse_distorts, {"height": height, "width": width}
+
+    def update_world(self, timestamp, agent_states):
+        
+        if (self.timestamp == timestamp and 
+            hasattr(self, "collected_gaussians") and 
+            self.collected_gaussians and 
+            'means' in self.collected_gaussians):
+            return
+        gs_dict = {
+            "means": [],
+            "scales": [],
+            "quats": [],
+            "opacities": [],
+        }
+        for asset_token in self.node_types.keys():
+            gaussian_model = self.gaussian_models[self.submodel_names[asset_token]]
+            if asset_token in agent_states.keys():
+                quat, trans = self.get_agent_pose(asset_token, agent_states[asset_token])
+            else:
+                quat, trans = None, None            # use original log (for background, skybox, etc.)
+
+            try:
+                gs = gaussian_model.get_global_gaussians(
+                    quat=quat,
+                    trans=trans,
+                    timestamp=timestamp,
+                )
+                if gs is None:
+                    logger.warning(f"get_global_gaussians returned None for {asset_token}")
+                    continue
+                for k in gs_dict.keys():
+                    gs_dict[k].append(gs[k].to(self.device))
+            except Exception as e:
+                logger.error(f"Error collecting gaussians for {asset_token}: {e}", exc_info=True)
+                raise
+        
+        # Check if any gaussians were collected
+        if not gs_dict["means"]:
+            logger.error(f"No gaussians collected in update_world! node_types: {list(self.node_types.keys())}, agent_states: {list(agent_states.keys())}, timestamp={timestamp}")
+            raise RuntimeError(f"No gaussians collected - no models available for timestamp {timestamp}")
+        
+        try:
+            new_collected_gaussians = {}
+            for key, value in gs_dict.items():
+                new_collected_gaussians[key] = torch.cat(value, dim=0)
+            self.collected_gaussians = new_collected_gaussians
+            self.timestamp = timestamp
+        except Exception as e:
+            logger.error(f"Failed to merge gaussians: {e}", exc_info=True)
+            raise
+
+    def update_gaussian_rgbs(self, camera_to_worlds):
+        rgb_list = []
+        for asset_token in self.node_types.keys():
+            gaussian_model = self.gaussian_models[self.submodel_names[asset_token]]
+            rgbs = []
+            for i in range(camera_to_worlds.shape[0]):
+                rgbs.append(gaussian_model.get_gaussian_rgbs(
+                        camera_to_worlds=camera_to_worlds[i:i+1],
+                        timestamp=self.timestamp,
+                        device=self.device
+                    ).unsqueeze(0)
+                )
+            rgbs = torch.cat(rgbs, dim=0)       # C x ni x 3
+            rgb_list.append(rgbs)
+            if torch.isnan(rgbs).any() or torch.isinf(rgbs).any():
+                print(f"NaN or inf in rgbs for model {self.submodel_names[asset_token]}")
+
+        self.collected_gaussians['rgbs'] = torch.cat(rgb_list, dim=1)   # C x N x 3
+
+    @torch.no_grad()
+    def render(self, render_state: RenderState):
+        timestamp = render_state[RenderState.TIMESTAMP]
+        agent_states = render_state[RenderState.AGENT_STATE] # Simulator Local (Ego rear-axis)
+        
+        converted_agent_states = {}
+        for agent_id, agent_state in agent_states.items():
+            agent_state_np = np.array(agent_state, dtype=np.float64)
+            
+            # Step 1: Simulator Local → Nuplan Global
+            if self.local2global_translation_xy is not None:
+                agent_state_np[:2] += self.local2global_translation_xy
+            
+            # Step 2: Nuplan Global → Reconstruction Local 
+            if isinstance(self.recon2global_translation, torch.Tensor):
+                recon2global_xy = self.recon2global_translation[:2].cpu().numpy()
+            else:
+                recon2global_xy = np.array(self.recon2global_translation[:2])
+            agent_state_np[:2] -= recon2global_xy
+            
+            converted_agent_states[agent_id] = agent_state_np
+
+        self.update_world(
+            timestamp=timestamp,
+            agent_states=converted_agent_states,
+        )
+        ego2global_raw = self.get_agent_pose('ego', converted_agent_states['ego'], return_matrix=True)
+        ego2global = ego2global_raw.to(device=self.device, dtype=torch.float32)
+
+        cameras = render_state[RenderState.CAMERAS]
+        camera_to_worlds, INTRINSICS, map_inverse_distorts, SHAPE = self.set_sensors(
+            sensors=cameras,
+            ego2global=ego2global,
+        )
+        self.update_gaussian_rgbs(camera_to_worlds)
+        
+        # shift the camera to center of scene looking at center
+        R = camera_to_worlds[:, :3, :3]     # C x 3 x 3
+        T = camera_to_worlds[:, :3, 3:4]    # C x 3 x 1
+        # analytic matrix inverse to get world2camera matrix
+        R_inv = R.transpose(1,2)            # C x 3 x 3
+        T_inv = -R_inv @ T
+        viewmat = self.get_transform_matrix(
+                rotation=R_inv, 
+                translation=T_inv
+            ).to(self.device)               # C x 4 x 4
+
+        if self.render_depth:
+            render_mode = "RGB+ED"
+        else:
+            render_mode = "RGB"
+
+        BLOCK_WIDTH = 16  # this controls the tile size of rasterization, 16 is a good default
+        render, alpha, _ = rasterization(
+            means=self.collected_gaussians['means'],
+            quats=self.collected_gaussians['quats'],
+            scales=self.collected_gaussians['scales'],
+            opacities=self.collected_gaussians['opacities'],
+            colors=self.collected_gaussians['rgbs'],
+            viewmats=viewmat,       # [C, 4, 4]
+            Ks=INTRINSICS.cuda(),   # [C, 3, 3]
+            width=SHAPE['width'],
+            height=SHAPE['height'],
+            tile_size=BLOCK_WIDTH,
+            packed=False,
+            near_plane=0.01,
+            far_plane=1e10,
+            render_mode=render_mode,
+            sparse_grad=False,
+            absgrad=True,
+            rasterize_mode=self.rasterize_mode,
+            # set some threshold to disregrad small gaussians for faster rendering.
+            radius_clip=self.radius_clip,
+        )
+        alpha = alpha[:, ...]
+        rgb = render[:, ..., :3] + (1 - alpha) * self.background_color
+        rgb = torch.clamp(rgb, 0.0, 1.0)
+        rgb = rgb.cpu().numpy() * 255
+        rgb = rgb.astype(np.uint8)
+        rgb = [cv2.cvtColor(rgb[i], cv2.COLOR_RGB2BGR) for i in range(rgb.shape[0])]
+
+        outputs = {"image": rgb}
+        if render_mode == "RGB+ED":
+            depth_im = render[:, ..., 3:4]
+            depth_im = torch.where(alpha > 0, depth_im, depth_im.detach().max())
+            outputs["depth"] = depth_im.cpu().numpy()
+
+        sensor_dict = {}
+        for cam_name, cam_idx in self.sensor_mapping.items():
+            sensor_dict[cam_name] = {}
+            for image_key in outputs.keys():
+                sensor_dict[cam_name][image_key] = cv2.remap(
+                    outputs[image_key][cam_idx],
+                    map_inverse_distorts[cam_idx][0], 
+                    map_inverse_distorts[cam_idx][1], cv2.INTER_LINEAR)
+        return_dict = {
+            'cameras': sensor_dict, 
+            'lidars': {}    # LiDAR rendering is not supported
+        }
+
+        ego2global_nuplan = ego2global_raw.cpu().numpy()
+        ego2global_nuplan[:3, 3] = ego2global_nuplan[:3, 3] + self.recon2global_translation[:3]
+
+        meta_data_dict = {
+            'ego2global': ego2global_nuplan,
+            'render_state': render_state
+        }
+        return_dict.update(meta_data_dict)
+        return return_dict
+
+    def get_agent_pose(self, name, agent_state, return_matrix=False):
+        if name not in self.mtgs_agent2states.keys():
+            return None if return_matrix else (None, None)
+
+        mtgs_agent_state = self.mtgs_agent2states[name]
+
+        agent_state_xy = torch.tensor(agent_state[:2], device=self.device, dtype=torch.float64)
+        agent_state_heading = torch.tensor(agent_state[-1], device=self.device, dtype=torch.float64)
+
+        nearsest_idx = torch.argmin(torch.norm(mtgs_agent_state['translation'][:, :2] - agent_state_xy, dim=-1))
+        log_trans = mtgs_agent_state['translation'][nearsest_idx]
+        log_quat = mtgs_agent_state['rotation'][nearsest_idx]
+
+        log_rot_matrix = quat_to_rotmat(log_quat)
+        log_rot_yaw = quat_to_angle(log_quat, focus="yaw")["yaw"]
+        heading_diff = agent_state_heading - log_rot_yaw
+        cos_vals = torch.cos(heading_diff)
+        sin_vals = torch.sin(heading_diff)
+        rot_matrix_diff = torch.zeros(3, 3, device=self.device, dtype=torch.float64)
+        rot_matrix_diff[0, 0] = cos_vals
+        rot_matrix_diff[0, 1] = -sin_vals
+        rot_matrix_diff[1, 0] = sin_vals
+        rot_matrix_diff[1, 1] = cos_vals
+        rot_matrix_diff[2, 2] = 1.0
+
+        new_trans = log_trans.clone()
+        new_trans[:2] = agent_state_xy
+        new_rot_matrix = rot_matrix_diff @ log_rot_matrix
+
+        if return_matrix:
+            agent2global = torch.zeros(4, 4, device=self.device, dtype=torch.float64)
+            agent2global[:3, :3] = new_rot_matrix
+            agent2global[:3, 3] = new_trans
+            return agent2global
+        else:
+            quat = matrix_to_quaternion(new_rot_matrix)
+            trans = new_trans
+            return quat, trans
+    
+    @property
+    def local2global_translation_xy(self) -> Optional[np.ndarray]:
+        if self.world_to_nre is None:
+            return None
+        return -self.world_to_nre[:2, 3]
+
+
+class MTGSAssetManager:
+
+    def __init__(self, asset_folder_path: Path, device: torch.device):
+        self.asset_folder_path = asset_folder_path
+        self.current_asset_id = None
+        self.device = device
+
+    def reset(self, asset_id: str):
+        if asset_id[-4:].startswith('-'):  # Check if ends with pattern like "-001"
+            asset_id = asset_id[:-4]  # Remove the suffix
+
+        if self.current_asset_id == asset_id:
+            return False
+
+        # Clean up old assets
+        if getattr(self, "background_asset_dict", None) is not None:
+            del self.background_asset_dict
+            self.background_asset_dict = None
+            torch.cuda.empty_cache()
+
+        self.current_asset_id = asset_id
+        self.load_asset()
+        return True
+
+    def load_asset(self):
+        """
+        Folder structure:
+            {asset_dir}
+            ├── background
+            ├── road_height_map
+            └── video_scene_dict.pkl (contains ego2global, etc.)
+        """
+        self.asset_dir = Path(self.asset_folder_path) / self.current_asset_id
+        logger.info(f"Loading assets from asset {self.current_asset_id}...")
+        # load background asset (includes background, skybox, and rigid objects)
+        background_asset_path = self.asset_dir / 'background' / f'{self.current_asset_id}.ckpt'
+        self.background_asset_dict = torch.load(background_asset_path, map_location=self.device)
+        logger.info(f"Loaded background asset dict with {len(self.background_asset_dict)} models")
+
+        road_height_map_path = self.asset_dir / 'road_height_map'
+        self.road_height_map = dict(
+            map = np.load(road_height_map_path / 'road_height_map.npy'),
+            sim2 = Sim2.from_json(road_height_map_path / 'sim2.json')
+        )
+
+        # Load video_scene_dict_final.pkl if available (contains ego2global, etc.)
+        video_scene_dict_path = self.asset_dir / 'video_scene_dict.pkl'
+        self.video_scene_dict = None
+        if video_scene_dict_path.exists():
+            try:
+                import pickle
+                with open(video_scene_dict_path, 'rb') as f:
+                    self.video_scene_dict = pickle.load(f)
+                logger.info(f"Loaded video_scene_dict from {video_scene_dict_path}")
+            except Exception as e:
+                logger.warning(f"Failed to load video_scene_dict.pkl: {e}")
+
+        # TODO: load foreground assets.
+        self.foreground_asset_dir = self.asset_dir / 'foreground'
+        self.foreground_assets = list(self.foreground_asset_dir.glob('*.ckpt'))
+
+
+# Backward compatibility aliases
+DigitalTwin = MTGS
+DigitalTwinAssetManager = MTGSAssetManager
diff --git a/src/render/src/utils/gaussian_utils.py b/src/render/src/utils/gaussian_utils.py
new file mode 100644
index 00000000..e3a0f42a
--- /dev/null
+++ b/src/render/src/utils/gaussian_utils.py
@@ -0,0 +1,172 @@
+import math
+import torch
+
+@torch.jit.script
+def quat_to_rotmat(quat: torch.Tensor) -> torch.Tensor:
+    assert quat.shape[-1] == 4, f"Expected quaternion shape [..., 4], got {quat.shape}"
+    w, x, y, z = torch.unbind(quat, dim=-1)
+
+    xx = x * x
+    yy = y * y
+    zz = z * z
+    xy = x * y
+    xz = x * z
+    yz = y * z
+    wx = w * x
+    wy = w * y
+    wz = w * z
+
+    m00 = 1.0 - 2.0 * (yy + zz)
+    m01 = 2.0 * (xy - wz)
+    m02 = 2.0 * (xz + wy)
+    m10 = 2.0 * (xy + wz)
+    m11 = 1.0 - 2.0 * (xx + zz)
+    m12 = 2.0 * (yz - wx)
+    m20 = 2.0 * (xz - wy)
+    m21 = 2.0 * (yz + wx)
+    m22 = 1.0 - 2.0 * (xx + yy)
+
+    mat = torch.stack([m00, m01, m02, m10, m11, m12, m20, m21, m22], dim=-1)
+    return mat.reshape(quat.shape[:-1] + (3, 3))
+
+@torch.jit.script
+def quat_mult(q1, q2):
+    # NOTE:
+    # Q1 is the quaternion that rotates the vector from the original position to the final position
+    # Q2 is the quaternion that been rotated
+    w1, x1, y1, z1 = torch.unbind(q1, dim=-1)
+    w2, x2, y2, z2 = torch.unbind(q2, dim=-1)
+    w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+    x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
+    y = w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2
+    z = w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2
+    return torch.stack([w, x, y, z], dim=-1)
+
+def interpolate_quats(q1, q2, fraction=0.5):
+    """
+    Interpolate between two quaternions using spherical linear interpolation (slerp).
+    """
+    if q1.dim() == 1:
+        q1 = q1[None, ...]
+    if q2.dim() == 1:
+        q2 = q2[None, ...]
+
+    q1 = q1 / torch.norm(q1, dim=-1, keepdim=True)
+    q2 = q2 / torch.norm(q2, dim=-1, keepdim=True)
+
+    dot = (q1 * q2).sum(dim=-1, keepdim=True)
+    dot = torch.clamp(dot, -1, 1)
+
+    q2 = torch.where(dot < 0, -q2, q2)
+    dot = torch.abs(dot)
+
+    similar_mask = dot > 0.9995
+    q_interp_similar = q1 + fraction * (q2 - q1)
+
+    theta_0 = torch.acos(dot)
+    theta = theta_0 * fraction
+    sin_theta = torch.sin(theta)
+    sin_theta_0 = torch.sin(theta_0)
+    s1 = torch.cos(theta) - dot * sin_theta / sin_theta_0
+    s2 = sin_theta / sin_theta_0
+    q_interp = (s1[..., None] * q1) + (s2[..., None] * q2)
+
+    final_q_interp = torch.zeros_like(q1)
+    final_q_interp = torch.where(similar_mask, q_interp_similar, q_interp)
+    final_q_interp = final_q_interp / torch.norm(final_q_interp, dim=-1, keepdim=True)
+    return final_q_interp
+
+def IDFT(time, dim, input_normalized=True):
+    """
+    Computes the inverse discrete Fourier transform of a given time signal.
+    """
+    if isinstance(time, float):
+        time = torch.tensor(time)
+    t = time.view(-1, 1)
+    idft = torch.zeros(t.shape[0], dim, dtype=t.dtype, device=t.device)
+    indices = torch.arange(dim, dtype=torch.int, device=t.device)
+    even_indices = indices[::2]
+    odd_indices = indices[1::2]
+    if input_normalized:
+        idft[:, even_indices] = torch.cos(t * even_indices * 2 * math.pi / dim)
+        idft[:, odd_indices] = torch.sin(t * (odd_indices + 1) * 2 * math.pi / dim)
+    else:
+        idft[:, even_indices] = torch.cos(t * even_indices)
+        idft[:, odd_indices] = torch.sin(t * (odd_indices + 1))
+    return idft
+
+def quat_to_angle(quat, focus="yaw"):
+    # quat: [N, 4]
+    focus = [focus] if isinstance(focus, str) else focus
+    w, x, y, z = torch.unbind(quat, dim=-1)
+    return_dict = dict()
+    if "yaw" in focus:
+        return_dict["yaw"] = torch.atan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
+    if "pitch" in focus:
+        return_dict["pitch"] = torch.asin(2 * (w * y - z * x))
+    if "roll" in focus:
+        return_dict["roll"] = torch.atan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
+    return return_dict
+
+def angle_to_quat(yaw, pitch, roll):
+    # yaw, pitch, roll: [N]
+    cy = torch.cos(yaw / 2)
+    sy = torch.sin(yaw / 2)
+    cp = torch.cos(pitch / 2)
+    sp = torch.sin(pitch / 2)
+    cr = torch.cos(roll / 2)
+    sr = torch.sin(roll / 2)
+    w = cy * cp * cr + sy * sp * sr
+    x = cy * cp * sr - sy * sp * cr
+    y = sy * cp * sr + cy * sp * cr
+    z = sy * cp * cr - cy * sp * sr
+    return torch.stack([w, x, y, z], dim=-1)
+
+def matrix_to_quaternion(rotation_matrix):
+    """
+    Convert a 3x3 rotation matrix to a unit quaternion.
+    """
+    if rotation_matrix.dim() == 2:
+        rotation_matrix = rotation_matrix[None, ...]
+    assert rotation_matrix.shape[1:] == (3, 3)
+
+    # Compute traces manually instead of using vmap (for compatibility)
+    traces = rotation_matrix[:, 0, 0] + rotation_matrix[:, 1, 1] + rotation_matrix[:, 2, 2]
+    quaternion = torch.zeros(
+        rotation_matrix.shape[0],
+        4,
+        dtype=rotation_matrix.dtype,
+        device=rotation_matrix.device,
+    )
+    for i in range(rotation_matrix.shape[0]):
+        matrix = rotation_matrix[i]
+        trace = traces[i]
+        if trace > 0:
+            S = torch.sqrt(trace + 1.0) * 2
+            w = 0.25 * S
+            x = (matrix[2, 1] - matrix[1, 2]) / S
+            y = (matrix[0, 2] - matrix[2, 0]) / S
+            z = (matrix[1, 0] - matrix[0, 1]) / S
+        elif (matrix[0, 0] > matrix[1, 1]) and (matrix[0, 0] > matrix[2, 2]):
+            S = torch.sqrt(1.0 + matrix[0, 0] - matrix[1, 1] - matrix[2, 2]) * 2
+            w = (matrix[2, 1] - matrix[1, 2]) / S
+            x = 0.25 * S
+            y = (matrix[0, 1] + matrix[1, 0]) / S
+            z = (matrix[0, 2] + matrix[2, 0]) / S
+        elif matrix[1, 1] > matrix[2, 2]:
+            S = torch.sqrt(1.0 + matrix[1, 1] - matrix[0, 0] - matrix[2, 2]) * 2
+            w = (matrix[0, 2] - matrix[2, 0]) / S
+            x = (matrix[0, 1] + matrix[1, 0]) / S
+            y = 0.25 * S
+            z = (matrix[1, 2] + matrix[2, 1]) / S
+        else:
+            S = torch.sqrt(1.0 + matrix[2, 2] - matrix[0, 0] - matrix[1, 1]) * 2
+            w = (matrix[1, 0] - matrix[0, 1]) / S
+            x = (matrix[0, 2] + matrix[2, 0]) / S
+            y = (matrix[1, 2] + matrix[2, 1]) / S
+            z = 0.25 * S
+
+        quaternion[i] = torch.tensor(
+            [w, x, y, z], dtype=matrix.dtype, device=matrix.device
+        )
+    return quaternion.squeeze()
diff --git a/src/render/src/utils/geometry_utils.py b/src/render/src/utils/geometry_utils.py
new file mode 100644
index 00000000..6174c74a
--- /dev/null
+++ b/src/render/src/utils/geometry_utils.py
@@ -0,0 +1,147 @@
+import numpy as np
+from pyquaternion import Quaternion
+from scipy.optimize import minimize
+import torch
+
+from src.utils.alpasim_utils.geometry_utils import Sim2
+
+def get_road_plane_from_traj(positions, weights):
+    """
+    Get the road plane from the trajectory.
+    Args:
+        positions: [N, 3] tensor. The trajectory positions.
+        weight: the weight for the optimization.
+    Returns:
+        road_plane: [3] tensor, [a, b, c]. The road plane, z = ax + by + c
+    """
+    z = positions[:, -1]
+    x = positions[:, :-1]
+
+    def objective(params):
+        ones = torch.ones(x.shape[0], 1)
+        x_hat = torch.cat([x, ones], dim=1)
+        z_pred = params * x_hat
+
+        dist_cost = torch.mean(weights * (z - z_pred)**2)
+        return dist_cost
+    
+    init_params = torch.ones(positions.shape[1])
+    init_params[-1] = z.min()
+    result = minimize(objective, init_params, method='Nelder-Mead')
+    return result.x
+
+def get_raster_values_at_coords(
+    points_xy: np.ndarray, sim2: Sim2, np_image: np.ndarray, fill_value=np.nan
+):
+    # Note: we do NOT round here, because we need to enforce scaled discretization.
+    city_coords = points_xy[:, :2]
+
+    npyimage_coords = sim2.transform_from(city_coords)
+    npyimage_coords = npyimage_coords.astype(np.int64)
+
+    # out of bounds values will default to the fill value, and will not be indexed into the array.
+    # index in at (x,y) locations, which are (y,x) in the image
+    raster_values = np.full((npyimage_coords.shape[0]), fill_value)
+    # generate boolean array indicating whether the value at each index represents a valid coordinate.
+    ind_valid_pts = (
+        (npyimage_coords[:, 1] >= 0)
+        * (npyimage_coords[:, 1] < np_image.shape[0])
+        * (npyimage_coords[:, 0] >= 0)
+        * (npyimage_coords[:, 0] < np_image.shape[1])
+    )
+    raster_values[ind_valid_pts] = np_image[
+        npyimage_coords[ind_valid_pts, 1], npyimage_coords[ind_valid_pts, 0]
+    ]
+    return raster_values
+
+def calculate_box_eular_angle_and_z(
+    height_map: np.ndarray, sim2: Sim2, box: np.ndarray
+):
+    if box.ndim == 1:
+        assert box.shape[0] == 6
+        box = box.reshape(1, -1)
+    else:
+        assert box.ndim == 2 and box.shape[1] == 6
+
+    # Extract 3D box parameters
+    x, y, l, w, h, yaw = box.T
+
+    l = l / 1.8  # 1.8 is the approximate ratio of the length of the car box to the wheel base
+
+    # Create four corner points for the box in global coordinates
+    corners = np.array([
+        [x + l / 2 * np.cos(yaw) - w / 2 * np.sin(yaw), y + l / 2 * np.sin(yaw) + w / 2 * np.cos(yaw)],
+        [x + l / 2 * np.cos(yaw) + w / 2 * np.sin(yaw), y + l / 2 * np.sin(yaw) - w / 2 * np.cos(yaw)],
+        [x - l / 2 * np.cos(yaw) + w / 2 * np.sin(yaw), y - l / 2 * np.sin(yaw) - w / 2 * np.cos(yaw)],
+        [x - l / 2 * np.cos(yaw) - w / 2 * np.sin(yaw), y - l / 2 * np.sin(yaw) + w / 2 * np.cos(yaw)],
+    ])
+
+    corners = np.transpose(corners, (2, 0, 1))
+    num_boxes = corners.shape[0]
+    corners_flat = corners.reshape(-1, 2)
+
+    heights = get_raster_values_at_coords(corners_flat, sim2, height_map)
+    heights = heights.reshape(num_boxes, 4)
+
+    # Fit a plane to the four corner points using least squares
+    # Solve for plane coefficients (a, b, c) where z = ax + by + c
+    A = np.stack([corners[..., 0],
+                  corners[..., 1],
+                  np.ones((num_boxes, 4))],
+                  axis=2)
+    b = heights
+    plane_coeffs = np.array([np.linalg.lstsq(A[i], b[i], rcond=None)[0] for i in range(num_boxes)])
+
+    # Calculate pitch and roll from plane normal vector
+    # Normal vector is [-a, -b, 1] for plane ax + by - z + c = 0
+    normals = np.column_stack([-plane_coeffs[:, 0], -plane_coeffs[:, 1], np.ones(num_boxes)])
+    normals = normals / np.linalg.norm(normals, axis=1)[:, np.newaxis]
+
+    # Pitch is angle between normal projection on xz-plane and z-axis
+    # Roll is angle between normal projection on yz-plane and z-axis
+    pitch = np.arctan2(normals[:, 0], normals[:, 2])
+    roll = np.arctan2(normals[:, 1], normals[:, 2])
+    eular_angles = np.stack([yaw, pitch, roll], axis=1)
+    z_coords = np.mean(heights, axis=1) + h / 2
+
+    return eular_angles.squeeze(), z_coords.squeeze()
+
+def get_9dof_state(height_map: np.ndarray, sim2: Sim2, agent_state: np.ndarray):
+    eular_angles, z_coords = calculate_box_eular_angle_and_z(height_map, sim2, agent_state)
+    x, y, l, w, h, _ = agent_state.T
+    yaw, pitch, roll = eular_angles.T
+    bbox_9dof = np.array(
+        [x, y, z_coords, l, w, h, yaw, pitch, roll],
+    )
+    return bbox_9dof
+
+def calculate_agent2bbox(bbox9dof: np.ndarray, agent2global: np.ndarray):
+    """
+    """
+    quat = get_quat_from_yaw_pitch_roll(bbox9dof[6:9])
+    bbox9dof2global_rotation = quat.rotation_matrix
+    bbox9dof2global_translation = bbox9dof[:3]
+
+    global2bbox = np.eye(4)
+    global2bbox[:3, :3] = bbox9dof2global_rotation.T
+    global2bbox[:3, 3] = -bbox9dof2global_rotation.T @ bbox9dof2global_translation
+
+    agent2bbox = global2bbox @ agent2global
+    return agent2bbox
+
+def get_quat_from_yaw_pitch_roll(eular_angles: np.ndarray) -> Quaternion:
+    yaw, pitch, roll = eular_angles
+    quat = Quaternion(axis=[0, 0, 1], angle=yaw) * \
+           Quaternion(axis=[0, 1, 0], angle=pitch) * \
+           Quaternion(axis=[1, 0, 0], angle=roll)
+    return quat
+
+def get_bbox2global(height_map: np.ndarray, sim2: Sim2, agent_state: np.ndarray):
+    bbox9dof = get_9dof_state(height_map, sim2, agent_state)
+    eular_angles = bbox9dof[6:9]
+    quat = get_quat_from_yaw_pitch_roll(eular_angles)
+    trans = bbox9dof[:3]
+    box2global = np.eye(4)
+    box2global[:3, :3] = quat.rotation_matrix
+    box2global[:3, 3] = trans
+    return box2global
diff --git a/src/render/src/utils/portable_utils.py b/src/render/src/utils/portable_utils.py
new file mode 100644
index 00000000..70058467
--- /dev/null
+++ b/src/render/src/utils/portable_utils.py
@@ -0,0 +1,65 @@
+"""
+This script is heavily based on the EasyDict class from `easydict` package.
+"""
+import logging
+
+logger = logging.getLogger(__name__)
+
+class AttrDict(dict):
+    def __init__(self, d=None, **kwargs):
+        if d is None:
+            d = {}
+        if kwargs:
+            d.update(**kwargs)
+        
+        # first check if value is a nested dict
+        # This change is tailored for torch models' `state_dict`.    
+        updated_dict = {}
+        for k, v in d.items():
+            if "." in k:
+                k1, k2 = k.split(".", 1)
+                if k1 not in updated_dict:
+                    updated_dict[k1] = {}
+                updated_dict[k1][k2] = v
+            elif k in updated_dict:
+                assert isinstance(v, dict), f"Conflicting value for key `{k}` found. Value should be a dict."
+                for subkey in v:
+                    if subkey in updated_dict[k]:
+                        assert updated_dict[k][subkey] == v[subkey], f"Conflicting value for key `{k}.{subkey}` found."
+                        logger.warning(f"Duplicate key `{k}.{subkey} found.")
+                updated_dict[k].update(v)
+            else:
+                updated_dict[k] = v
+        
+        for k, v in updated_dict.items():
+            setattr(self, k, v)
+        # Class attributes
+        for k in self.__class__.__dict__.keys():
+            if not (k.startswith("__") and k.endswith("__")) and not k in ("update", "pop"):
+                setattr(self, k, getattr(self, k))
+
+    def __setattr__(self, name, value):
+        if isinstance(value, (list, tuple)):
+            value = [self.__class__(x) if isinstance(x, dict) else x for x in value]
+        elif isinstance(value, dict) and not isinstance(value, self.__class__):
+            value = self.__class__(value)
+        super(AttrDict, self).__setattr__(name, value)
+        super(AttrDict, self).__setitem__(name, value)
+
+    __setitem__ = __setattr__
+
+    def update(self, e=None, **f):
+        d = e or dict()
+        d.update(f)
+        for k in d:
+            setattr(self, k, d[k])
+
+    def pop(self, k, d=None):
+        if hasattr(self, k):
+            delattr(self, k)
+        return super(AttrDict, self).pop(k, d)
+
+
+def convert_to_attribute_dict(obj: dict) -> AttrDict:
+    attributes = AttrDict(obj)
+    return attributes
\ No newline at end of file
diff --git a/src/runtime/alpasim_runtime/camera_catalog.py b/src/runtime/alpasim_runtime/camera_catalog.py
index a11effeb..def094bc 100644
--- a/src/runtime/alpasim_runtime/camera_catalog.py
+++ b/src/runtime/alpasim_runtime/camera_catalog.py
@@ -406,6 +406,10 @@ def ensure_camera_defined(self, scene_id: str, logical_id: str) -> None:
             raise KeyError(
                 f"Camera '{logical_id}' is not defined for scene '{scene_id}'"
             )
+    
+    def get_local_override_cameras(self) -> list[CameraDefinitionConfig]:
+        """Return list of locally configured camera overrides."""
+        return list(self._local_overrides.values())
 
 
 __all__ = ["CameraCatalog", "CameraDefinition"]
diff --git a/src/runtime/alpasim_runtime/config.py b/src/runtime/alpasim_runtime/config.py
index 2348135e..5f69497c 100644
--- a/src/runtime/alpasim_runtime/config.py
+++ b/src/runtime/alpasim_runtime/config.py
@@ -62,7 +62,7 @@ class NetworkSimulatorConfig:
 class RuntimeCameraConfig:
     """Configuration for a camera in the runtime. See `RuntimeCamera` for more details."""
 
-    logical_id: str = "camera_front_wide_120fov"
+    logical_id: str = ""
     height: int = 160
     width: int = 256
     frame_interval_us: int = 33_000  # about 30fps
diff --git a/src/runtime/alpasim_runtime/dispatcher.py b/src/runtime/alpasim_runtime/dispatcher.py
index 451f3612..56d2b8d9 100644
--- a/src/runtime/alpasim_runtime/dispatcher.py
+++ b/src/runtime/alpasim_runtime/dispatcher.py
@@ -31,6 +31,8 @@
 from alpasim_runtime.services.traffic_service import TrafficService
 from alpasim_runtime.worker.ipc import JobResult, RolloutJob, ServiceAllocations
 from alpasim_utils.artifact import Artifact
+from alpasim_utils.data_source_loader import load_data_sources
+from alpasim_utils.scene_data_source import SceneDataSource
 
 logger = logging.getLogger(__name__)
 
@@ -51,7 +53,7 @@ class Dispatcher:
     camera_catalog: CameraCatalog
 
     user_config: UserSimulatorConfig
-    artifacts: dict[str, Artifact]
+    artifacts: dict[str, SceneDataSource]
     version_ids: RolloutMetadata.VersionIds
     asl_dir: str
 
@@ -72,15 +74,27 @@ async def find_scenario_incompatibilities(
     async def create(
         user_config: UserSimulatorConfig,
         allocations: ServiceAllocations,
-        usdz_glob: str,
-        asl_dir: str,
+        usdz_glob: str | None = None,
+        asl_dir: str = "",
+        trajdata_config_path: str | None = None,
     ) -> Dispatcher:
-        """Initialize dispatcher: discover artifacts, build pools from allocations."""
+        """
+        Initialize dispatcher: discover artifacts, build pools from allocations.
+        
+        Args:
+            user_config: User simulator configuration
+            allocations: Service allocations
+            usdz_glob: Glob pattern for USDZ files (mutually exclusive with trajdata_config_path)
+            asl_dir: Directory for ASL output files
+            trajdata_config_path: Path to JSON/YAML file containing trajdata configuration
+        """
         camera_catalog = CameraCatalog(user_config.extra_cameras)
 
         # NOTE: In multi-worker mode, each worker re-discovers artifacts independently.
-        artifacts = Artifact.discover_from_glob(
-            usdz_glob, smooth_trajectories=user_config.smooth_trajectories
+        artifacts = load_data_sources(
+            usdz_glob=usdz_glob,
+            trajdata_config_path=trajdata_config_path,
+            smooth_trajectories=user_config.smooth_trajectories,
         )
 
         endpoints = user_config.endpoints
diff --git a/src/runtime/alpasim_runtime/loop.py b/src/runtime/alpasim_runtime/loop.py
index 0ceb8d40..a7aa7a25 100644
--- a/src/runtime/alpasim_runtime/loop.py
+++ b/src/runtime/alpasim_runtime/loop.py
@@ -48,6 +48,7 @@
 from alpasim_runtime.telemetry.telemetry_context import try_get_context
 from alpasim_runtime.types import Clock, RuntimeCamera
 from alpasim_utils.artifact import Artifact
+from alpasim_utils.scene_data_source import SceneDataSource
 from alpasim_utils.logs import LogWriter
 from alpasim_utils.qvec import QVec
 from alpasim_utils.scenario import AABB, TrafficObjects
@@ -140,7 +141,7 @@ def create(
         scenario: ScenarioConfig,
         version_ids: RolloutMetadata.VersionIds,
         random_seed: int,
-        available_artifacts: dict[str, Artifact],
+        available_artifacts: dict[str, SceneDataSource],
         asl_dir: str,
     ) -> UnboundRollout:
 
diff --git a/src/runtime/alpasim_runtime/services/mtgs_sensorsim_server.py b/src/runtime/alpasim_runtime/services/mtgs_sensorsim_server.py
new file mode 100644
index 00000000..c92fcf13
--- /dev/null
+++ b/src/runtime/alpasim_runtime/services/mtgs_sensorsim_server.py
@@ -0,0 +1,267 @@
+# SPDX-License-Identifier: Apache-2.0
+# Copyright (c) 2025 NVIDIA Corporation
+
+"""
+Server script for MTGS Sensorsim Service.
+
+This script starts a gRPC server that exposes the MTGS renderer
+as a SensorsimService, allowing it to replace the default sensorsim in alpasim.
+"""
+
+import argparse
+import json
+import logging
+from concurrent import futures
+from pathlib import Path
+
+import grpc
+
+from alpasim_grpc.v0.sensorsim_pb2_grpc import add_SensorsimServiceServicer_to_server
+from alpasim_runtime.services.mtgs_sensorsim_service import (
+    MTGSSensorsimService,
+)
+from alpasim_utils.data_source_loader import load_data_sources
+
+logger = logging.getLogger(__name__)
+
+# Mapping from trajdata dataset names to MTGS asset folder subdirectories
+# Format: "nuplan_<split>" -> "data_nav<split>"
+TRAJDATA_TO_ASSET_FOLDER_MAPPING = {
+    "nuplan_test": "navtest",
+    "nuplan_train": "navtrain",
+    # Add more mappings as needed
+}
+
+
+def parse_args(arg_list: list[str] | None = None) -> tuple[argparse.Namespace, list[str]]:
+    """Parse command line arguments."""
+    parser = argparse.ArgumentParser(
+        description="MTGS Sensorsim Service Server",
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+    )
+    artifact_group = parser.add_mutually_exclusive_group(required=True)
+    artifact_group.add_argument(
+        "--artifact-glob",
+        type=str,
+        help="Glob expression to find USDZ artifacts. Must end in .usdz",
+    )
+    artifact_group.add_argument(
+        "--trajdata-config",
+        type=str,
+        help="Path to trajdata config YAML/JSON file",
+    )
+    parser.add_argument(
+        "--asset-folder-path",
+        type=str,
+        help="Path to MTGS asset folder containing scene assets",
+        required=True,
+    )
+    parser.add_argument(
+        "--scene-id-to-asset-id-mapping",
+        type=str,
+        help="Optional JSON file mapping scene_id to asset_id",
+        default=None,
+    )
+    parser.add_argument("--host", type=str, default="localhost", help="Host to bind to")
+    parser.add_argument("--port", type=int, default=8080, help="Port to bind to")
+    parser.add_argument(
+        "--cache-size",
+        type=int,
+        default=2,
+        help="Number of renderer instances to keep in LRU cache",
+    )
+    parser.add_argument(
+        "--device",
+        type=str,
+        default="cuda",
+        choices=["cuda", "cpu"],
+        help="Device to use for rendering",
+    )
+    parser.add_argument(
+        "--log-level",
+        type=str,
+        default="INFO",
+        choices=["DEBUG", "INFO", "WARNING", "ERROR"],
+        help="Logging level",
+    )
+    args, overrides = parser.parse_known_args(arg_list)
+    return args, overrides
+
+
+def load_scene_id_mapping(mapping_path: str | None) -> dict[str, str] | None:
+    """Load scene_id to asset_id mapping from JSON file."""
+    if mapping_path is None:
+        return None
+    
+    mapping_file = Path(mapping_path)
+    if not mapping_file.exists():
+        logger.warning(f"Mapping file not found: {mapping_path}")
+        return None
+    
+    try:
+        with open(mapping_file, "r") as f:
+            mapping = json.load(f)
+        logger.info(f"Loaded {len(mapping)} scene_id mappings from {mapping_path}")
+        return mapping
+    except Exception as e:
+        logger.error(f"Failed to load mapping file: {e}")
+        return None
+
+
+def resolve_asset_folder_path(
+    base_asset_folder_path: str,
+    trajdata_config_path: str | None = None,
+) -> str:
+    """
+    Resolve the full asset folder path based on trajdata config.
+    
+    If trajdata_config_path is provided, reads the desired_data from the config
+    and automatically appends the corresponding subdirectory to the base path.
+    
+    Args:
+        base_asset_folder_path: Base path to MTGS asset folder
+        trajdata_config_path: Optional path to trajdata config YAML/JSON file
+    
+    Returns:
+        Resolved asset folder path (with subdirectory appended if applicable)
+    
+    Examples:
+        If base_asset_folder_path="/path/to/assets" and trajdata config has
+        desired_data=["nuplan_test"], returns "/path/to/assets/data_navtest"
+    """
+    base_path = Path(base_asset_folder_path)
+    
+    # If no trajdata config, return base path as-is
+    if trajdata_config_path is None:
+        return str(base_path)
+    
+    # Load trajdata config to extract desired_data
+    config_path = Path(trajdata_config_path)
+    if not config_path.exists():
+        logger.warning(
+            f"Trajdata config file not found: {config_path}. "
+            f"Using base asset folder path: {base_path}"
+        )
+        return str(base_path)
+    
+    try:
+        with open(config_path, "r") as f:
+            if config_path.suffix.lower() in [".yaml", ".yml"]:
+                import yaml
+                config = yaml.safe_load(f)
+            else:
+                # Assume JSON
+                config = json.load(f)
+        
+        # Extract desired_data from config
+        desired_data = config.get("desired_data", [])
+        if not desired_data:
+            logger.warning(
+                f"No 'desired_data' found in trajdata config. "
+                f"Using base asset folder path: {base_path}"
+            )
+            return str(base_path)
+        
+        # Use the first dataset name in desired_data
+        # (typically there's only one, but if multiple, use the first)
+        dataset_name = desired_data[0] if isinstance(desired_data, list) else desired_data
+        
+        # Look up the corresponding asset folder subdirectory
+        asset_subdir = TRAJDATA_TO_ASSET_FOLDER_MAPPING.get(dataset_name)
+        
+        if asset_subdir is None:
+            logger.warning(
+                f"No mapping found for dataset '{dataset_name}'. "
+                f"Available mappings: {list(TRAJDATA_TO_ASSET_FOLDER_MAPPING.keys())}. "
+                f"Using base asset folder path: {base_path}"
+            )
+            return str(base_path)
+        
+        # Construct full path: base_path / asset_subdir
+        full_path = base_path / asset_subdir / 'assets'
+        
+        # Verify the path exists
+        if not full_path.exists():
+            logger.warning(
+                f"Asset folder subdirectory does not exist: {full_path}. "
+                f"Using base asset folder path: {base_path}"
+            )
+            return str(base_path)
+        
+        logger.info(
+            f"Auto-resolved asset folder path: {base_path} -> {full_path} "
+            f"(based on dataset '{dataset_name}' -> '{asset_subdir}')"
+        )
+        return str(full_path)
+        
+    except Exception as e:
+        logger.error(
+            f"Failed to resolve asset folder path from trajdata config: {e}. "
+            f"Using base asset folder path: {base_path}"
+        )
+        return str(base_path)
+
+
+def main(arg_list: list[str] | None = None) -> None:
+    """Main entry point for the server."""
+    args, _ = parse_args(arg_list)
+    
+    logging.basicConfig(
+        level=getattr(logging, args.log_level.upper(), logging.INFO),
+        format="%(asctime)s.%(msecs)03d %(levelname)s:\t%(message)s",
+        datefmt="%H:%M:%S",
+    )
+    
+    logger.info("Starting MTGS Sensorsim Service")
+    
+    # Resolve asset folder path based on trajdata config if provided
+    # This automatically appends the correct subdirectory (e.g., data_navtest) 
+    # based on the desired_data in trajdata config
+    resolved_asset_folder_path = resolve_asset_folder_path(
+        base_asset_folder_path=args.asset_folder_path,
+        trajdata_config_path=args.trajdata_config if not args.artifact_glob else None,
+    )
+    
+    # Load artifacts from either USDZ glob or trajdata config
+    if args.artifact_glob:
+        logger.info(f"Loading artifacts from USDZ glob: {args.artifact_glob}")
+        artifacts = load_data_sources(usdz_glob=args.artifact_glob)
+    else:
+        logger.info(f"Loading artifacts from trajdata config: {args.trajdata_config}")
+        artifacts = load_data_sources(trajdata_config_path=args.trajdata_config)
+    
+    logger.info(f"Asset folder path: {resolved_asset_folder_path}")
+    logger.info(f"Device: {args.device}")
+    logger.info(f"Loaded {len(artifacts)} scenes")
+    
+    # Load scene_id to asset_id mapping if provided
+    scene_id_mapping = load_scene_id_mapping(args.scene_id_to_asset_id_mapping)
+    
+    # Create gRPC server
+    server = grpc.server(futures.ThreadPoolExecutor(max_workers=4))
+    address = f"{args.host}:{args.port}"
+    server.add_insecure_port(address)
+    
+    # Create and register service
+    service = MTGSSensorsimService(
+        server=server,
+        artifacts=artifacts,
+        asset_folder_path=resolved_asset_folder_path,
+        scene_id_to_asset_id_mapping=scene_id_mapping,
+        cache_size=args.cache_size,
+        device=args.device,
+    )
+    add_SensorsimServiceServicer_to_server(service, server)
+    
+    logger.info(f"Serving MTGS Sensorsim Service on {address}")
+    server.start()
+    
+    try:
+        server.wait_for_termination()
+    except KeyboardInterrupt:
+        logger.info("Received interrupt signal, shutting down...")
+        server.stop(0)
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/src/runtime/alpasim_runtime/services/mtgs_sensorsim_service.py b/src/runtime/alpasim_runtime/services/mtgs_sensorsim_service.py
new file mode 100644
index 00000000..3784e1c6
--- /dev/null
+++ b/src/runtime/alpasim_runtime/services/mtgs_sensorsim_service.py
@@ -0,0 +1,788 @@
+# SPDX-License-Identifier: Apache-2.0
+# Copyright (c) 2025 NVIDIA Corporation
+
+"""
+MTGS Sensorsim Service implementation.
+
+This service wraps the MTGS renderer and exposes it via gRPC
+as a SensorsimService, allowing it to replace the default sensorsim in alpasim.
+"""
+
+from __future__ import annotations
+
+import functools
+import io
+import logging
+import time
+from pathlib import Path
+from typing import Dict, Optional
+
+import cv2
+import grpc
+import numpy as np
+import torch
+
+from alpasim_grpc.v0.common_pb2 import AvailableScenesReturn, Empty, VersionId
+from alpasim_grpc.v0.sensorsim_pb2 import (
+    AggregatedRenderRequest,
+    AggregatedRenderReturn,
+    AvailableCamerasRequest,
+    AvailableCamerasReturn,
+    AvailableEgoMasksReturn,
+    AvailableTrajectoriesRequest,
+    AvailableTrajectoriesReturn,
+    RGBRenderRequest,
+    RGBRenderReturn,
+)
+from alpasim_grpc.v0.sensorsim_pb2_grpc import SensorsimServiceServicer
+from alpasim_utils.artifact import Artifact
+from alpasim_utils.mtgs_artifact_adapter import (
+    get_available_cameras_from_data_source,
+    rgb_render_request_to_render_state,
+)
+from alpasim_utils.scene_data_source import SceneDataSource
+
+logger = logging.getLogger(__name__)
+
+# Import MTGS renderer from local render module
+try:
+    from src.render.src.mtgs import MTGS
+    from src.render.base_renderer import RenderState
+    MTGS_AVAILABLE = True
+except ImportError as e:
+    logger.warning(f"MTGS renderer not available: {e}")
+    MTGS_AVAILABLE = False
+    MTGS = None
+    RenderState = None
+
+
+VERSION_MESSAGE = VersionId(
+    version_id="mtgs-sensorsim-1.0.0",
+    git_hash="unknown",
+)
+
+
+class MTGSSensorsimService(SensorsimServiceServicer):
+    """
+    gRPC service that wraps MTGS renderer.
+    
+    This service implements the SensorsimServiceServicer interface, allowing
+    MTGS to be used as a drop-in replacement for the default sensorsim.
+    """
+
+    def __init__(
+        self,
+        server: grpc.Server,
+        artifacts: Dict[str, SceneDataSource],
+        asset_folder_path: str,
+        scene_id_to_asset_id_mapping: Optional[Dict[str, str]] = None,
+        cache_size: int = 2,
+        device: str = "cuda" if torch.cuda.is_available() else "cpu",
+    ) -> None:
+        """
+        Initialize the MTGS sensorsim service.
+        
+        Args:
+            server: gRPC server instance
+            artifacts: Dictionary mapping scene_id to SceneDataSource (from load_data_sources)
+            asset_folder_path: Path to MTGS asset folder
+            scene_id_to_asset_id_mapping: Optional mapping from scene_id to asset_id
+            cache_size: Number of renderer instances to cache
+            device: Device to use for rendering (cuda or cpu)
+        """
+        if not MTGS_AVAILABLE:
+            raise ImportError("MTGS renderer is required for MTGSSensorsimService")
+        
+        self.server = server
+        self.artifacts: Dict[str, SceneDataSource] = artifacts
+        self.asset_folder_path = Path(asset_folder_path)
+        self.scene_id_to_asset_id_mapping = scene_id_to_asset_id_mapping or {}
+        self.device = device
+        
+        logger.info(f"Available scenes: {list(self.artifacts.keys())}")
+        logger.info(f"Asset folder path: {self.asset_folder_path}")
+        
+        # Cache renderer instances per scene
+        # Note: We can't use lru_cache directly because it needs to access self.artifacts
+        # Instead, we'll manually cache renderers
+        self._renderer_cache: Dict[str, MTGS] = {}
+        
+        def get_renderer(scene_id: str) -> MTGS:
+            if scene_id in self._renderer_cache:
+                return self._renderer_cache[scene_id]
+            
+            if scene_id not in self.artifacts:
+                raise KeyError(f"Scene {scene_id=} not available.")
+            
+            artifact = self.artifacts[scene_id]
+            logger.info(f"Cache miss, loading renderer for {scene_id=}")
+            
+            # Get asset_id from mapping or use scene_id
+            asset_id = self.scene_id_to_asset_id_mapping.get(scene_id, scene_id)
+            
+            # Create renderer with asset_folder_path from service config
+            renderer = MTGS(
+                device=self.device,
+                asset_folder_path=self.asset_folder_path
+            )
+            
+            # Clean asset_id (remove suffix like "-001")
+            asset_id_clean = asset_id
+            if asset_id_clean[-4:].startswith('-'):  # Remove suffix like "-001"
+                asset_id_clean = asset_id_clean[:-4]
+            
+            # Reset renderer with asset_id
+            renderer.reset(current_scene_id=scene_id, asset_id=asset_id_clean)
+            
+            # Calculate ego2globals - priority: video_scene_dict > rig trajectory
+            ego2globals = None
+            
+            # First, try to get from video_scene_dict.pkl (preferred source)
+            try:
+                if hasattr(renderer.asset_manager, 'video_scene_dict') and renderer.asset_manager.video_scene_dict:
+                    video_dict_raw = renderer.asset_manager.video_scene_dict
+                    
+                    # Handle nested structure: video_scene_dict may be {scene_id: {frame_infos, ego2global, ...}}
+                    # or directly {frame_infos, ego2global, ...}
+                    video_dict = video_dict_raw
+                    if isinstance(video_dict_raw, dict) and 'ego2global' not in video_dict_raw and 'frame_infos' not in video_dict_raw:
+                        # Nested structure - get the first (and usually only) scene data
+                        first_key = next(iter(video_dict_raw.keys()), None)
+                        if first_key and isinstance(video_dict_raw[first_key], dict):
+                            video_dict = video_dict_raw[first_key]
+                            logger.info(f"Accessing nested video_scene_dict with key: {first_key}")
+                    
+                    # Check for frame_infos FIRST (more common case with 301 frames)
+                    if 'frame_infos' in video_dict and len(video_dict['frame_infos']) > 0:
+                        # Extract ego2global from frame_infos (each frame has its own ego2global)
+                        frame_infos = video_dict['frame_infos']
+                        logger.info(f"Found {len(frame_infos)} frames in frame_infos, extracting ego2globals...")
+                        ego2globals_list = []
+                        for fi in frame_infos:
+                            if 'ego2global' in fi:
+                                ego2globals_list.append(np.array(fi['ego2global']))
+                            elif 'ego2global_translation' in fi and 'ego2global_rotation' in fi:
+                                transform = np.eye(4)
+                                transform[:3, 3] = np.array(fi['ego2global_translation'])
+                                rot = np.array(fi['ego2global_rotation'])
+                                if rot.shape == (3, 3):
+                                    transform[:3, :3] = rot
+                                elif rot.shape == (4,):  # quaternion
+                                    from pyquaternion import Quaternion
+                                    q = Quaternion(rot[0], rot[1], rot[2], rot[3])
+                                    transform[:3, :3] = q.rotation_matrix
+                                ego2globals_list.append(transform)
+                        if ego2globals_list:
+                            ego2globals = np.stack(ego2globals_list)
+                            logger.info(f"✓ Extracted ego2globals from frame_infos: shape {ego2globals.shape}, first translation: {ego2globals[0, :3, 3]}")
+                    elif 'ego2global' in video_dict:
+                        ego2globals = np.array(video_dict['ego2global'])
+                        if ego2globals.ndim == 2:
+                            # Single matrix, add batch dimension
+                            ego2globals = ego2globals[np.newaxis, ...]
+                        logger.info(f"Loaded ego2globals from video_scene_dict: shape {ego2globals.shape}")
+                    elif 'ego2global_translation' in video_dict and 'ego2global_rotation' in video_dict:
+                        # Reconstruct from translation and rotation
+                        translations = np.array(video_dict['ego2global_translation'])
+                        rotations = np.array(video_dict['ego2global_rotation'])
+                        if translations.ndim == 1:
+                            translations = translations[np.newaxis, ...]
+                        if rotations.ndim == 2:
+                            rotations = rotations[np.newaxis, ...]
+                        
+                        ego2globals_list = []
+                        for i in range(len(translations)):
+                            transform = np.eye(4)
+                            transform[:3, :3] = rotations[i] if rotations.shape[-1] == 3 else rotations[i].reshape(3, 3)
+                            transform[:3, 3] = translations[i]
+                            ego2globals_list.append(transform)
+                        ego2globals = np.stack(ego2globals_list)
+                        logger.info(f"Reconstructed ego2globals from video_scene_dict: shape {ego2globals.shape}")
+            except Exception as e:
+                logger.warning(f"Could not load ego2globals from video_scene_dict: {e}")
+            
+            # Fallback: compute from rig trajectory if video_scene_dict not available
+            if ego2globals is None:
+                try:
+                    rig = artifact.rig
+                    if rig.trajectory.poses is not None and len(rig.trajectory.poses) > 0:
+                        # Convert rig trajectory poses to ego2global transformation matrices
+                        poses = rig.trajectory.poses
+                        ego2globals_list = []
+                        for pose in poses:
+                            # Create 4x4 transformation matrix from pose
+                            # Handle different pose formats (gRPC objects vs numpy arrays)
+                            if hasattr(pose.vec3, '__getitem__'):  # numpy array or similar
+                                trans = np.array([pose.vec3[0], pose.vec3[1], pose.vec3[2]])
+                            else:  # gRPC object with .x, .y, .z attributes
+                                trans = np.array([pose.vec3.x, pose.vec3.y, pose.vec3.z])
+
+                            if hasattr(pose.quat, 'w'):  # gRPC object with .w, .x, .y, .z attributes
+                                quat = np.array([pose.quat.w, pose.quat.x, pose.quat.y, pose.quat.z])
+                            elif hasattr(pose.quat, '__getitem__'):  # numpy array or similar
+                                quat = np.array(pose.quat)
+                            else:
+                                raise ValueError(f"Unsupported quaternion format: {type(pose.quat)}")
+                            
+                            # Convert quaternion to rotation matrix using proper function
+                            from src.render.src.utils.gaussian_utils import quat_to_rotmat
+                            quat_tensor = torch.tensor(quat, dtype=torch.float64).unsqueeze(0)  # [1, 4]
+                            rot_mat = quat_to_rotmat(quat_tensor).squeeze(0).numpy()  # [3, 3]
+                            
+                            # Create 4x4 transformation matrix
+                            transform = np.eye(4)
+                            transform[:3, :3] = rot_mat
+                            transform[:3, 3] = trans
+                            ego2globals_list.append(transform)
+                        
+                        ego2globals = np.stack(ego2globals_list)
+                        logger.info(f"Computed ego2globals from rig trajectory: shape {ego2globals.shape}")
+                except Exception as e:
+                    logger.warning(f"Could not compute ego2globals from rig trajectory: {e}")
+            
+            # Set world_to_nre transformation from Rig
+            # This enables Simulator Local → Nuplan Global coordinate conversion in render()
+            if hasattr(artifact, 'rig') and artifact.rig is not None:
+                if hasattr(artifact.rig, 'world_to_nre') and artifact.rig.world_to_nre is not None:
+                    renderer.set_world_to_nre(artifact.rig.world_to_nre)
+                    logger.info(f"Set world_to_nre from rig: {artifact.rig.world_to_nre[:3, 3]}")
+                else:
+                    logger.warning("artifact.rig exists but world_to_nre is None")
+            else:
+                logger.warning("artifact.rig not available, world_to_nre not set")
+            
+            # Calibrate agent states (will use ego2globals if provided)
+            renderer.mtgs_agent2states = renderer.calibrate_agent_state(ego2globals=ego2globals)
+            
+            # NOTE: No coordinate offset conversion needed!
+            # - Runtime sends ego_pose already in global coordinates
+            # - MTGS.render() will subtract recon2global_translation internally
+            # - get_agent_pose() does nearest-neighbor search in reconstruction coordinate system
+            # 
+            # Coordinate flow:
+            # 1. Runtime: ego_pose in global frame [x_global, y_global, ...]
+            # 2. Service: passes through unchanged
+            # 3. MTGS.render(): subtracts recon2global_translation → reconstruction frame
+            # 4. get_agent_pose(): matches in reconstruction frame against mtgs_agent2states
+            # 5. mtgs_agent2states contains: video_scene_dict.ego2global (global) - recon2global
+            #
+            # Therefore: NO offset conversion is needed in the service layer
+            renderer.local_to_global_offset = None  # Not used
+            logger.info("Coordinate system: Runtime sends global, MTGS handles conversion internally")
+            
+            renderer._scene_id = scene_id
+            renderer._asset_id = asset_id
+            renderer._initialized = True
+            
+            # Cache the renderer (simple LRU: keep only cache_size most recent)
+            if len(self._renderer_cache) >= cache_size:
+                # Remove oldest entry (first key)
+                oldest_key = next(iter(self._renderer_cache))
+                del self._renderer_cache[oldest_key]
+            
+            self._renderer_cache[scene_id] = renderer
+            return renderer
+        
+        self.get_renderer = get_renderer
+
+    def get_version(self, request: Empty, context: grpc.ServicerContext) -> VersionId:
+        """Return version information."""
+        return VERSION_MESSAGE
+
+    def get_available_scenes(
+        self, request: Empty, context: grpc.ServicerContext
+    ) -> AvailableScenesReturn:
+        """Return list of available scene IDs."""
+        return AvailableScenesReturn(scene_ids=list(self.artifacts.keys()))
+
+    def get_available_cameras(
+        self,
+        request: AvailableCamerasRequest,
+        context: grpc.ServicerContext,
+    ) -> AvailableCamerasReturn:
+        """Return available cameras for a scene."""
+        scene_id = request.scene_id
+        renderer = self.get_renderer(scene_id)
+        if scene_id not in self.artifacts:
+            context.set_code(grpc.StatusCode.NOT_FOUND)
+            context.set_details(f"Scene {scene_id} not found")
+            return AvailableCamerasReturn()
+        
+        cameras = get_available_cameras_from_data_source(asset_manager=renderer.asset_manager)
+        
+        return AvailableCamerasReturn(available_cameras=cameras)
+
+    def get_available_trajectories(
+        self,
+        request: AvailableTrajectoriesRequest,
+        context: grpc.ServicerContext,
+    ) -> AvailableTrajectoriesReturn:
+        """Return available trajectories for a scene."""
+        scene_id = request.scene_id
+        if scene_id not in self.artifacts:
+            context.set_code(grpc.StatusCode.NOT_FOUND)
+            context.set_details(f"Scene {scene_id} not found")
+            return AvailableTrajectoriesReturn()
+        
+        artifact = self.artifacts[scene_id]
+        rig = artifact.rig
+        
+        return AvailableTrajectoriesReturn(
+            available_trajectories=[
+                AvailableTrajectoriesReturn.AvailableTrajectory(
+                    trajectory=rig.trajectory.to_grpc()
+                )
+            ]
+        )
+
+    def get_available_ego_masks(
+        self, request: Empty, context: grpc.ServicerContext
+    ) -> AvailableEgoMasksReturn:
+        """Return available ego masks (empty for now)."""
+        # MTGS doesn't support ego masks yet
+        return AvailableEgoMasksReturn()
+
+    def render_rgb(
+        self, request: RGBRenderRequest, context: grpc.ServicerContext
+    ) -> RGBRenderReturn:
+        """Render an RGB image using MTGS."""
+        try:
+            scene_id = request.scene_id
+            camera_name = request.camera_intrinsics.logical_id
+            frame_start_us = request.frame_start_us
+            
+            if scene_id not in self.artifacts:
+                context.set_code(grpc.StatusCode.NOT_FOUND)
+                context.set_details(f"Scene {scene_id} not found")
+                return RGBRenderReturn()
+            
+            artifact = self.artifacts[scene_id]
+            
+            # Get or create renderer for this scene
+            renderer = self.get_renderer(scene_id)
+            
+            # Convert RGBRenderRequest to RenderState
+            # Pass asset_manager to allow access to video_scene_dict for ego2global info
+            render_state_dict = rgb_render_request_to_render_state(
+                request, 
+                asset_manager=renderer.asset_manager
+            )
+            
+            # NOTE: No coordinate conversion needed - Runtime sends global coordinates
+            # MTGS.render() will handle the conversion internally by subtracting recon2global_translation
+            
+            # Create RenderState object
+            # Note: RenderState is a dict subclass, so we can use dict assignment
+            render_state = RenderState()
+            render_state[RenderState.TIMESTAMP] = render_state_dict["timestamp"]
+            render_state[RenderState.AGENT_STATE] = render_state_dict["agent_state"]
+            render_state[RenderState.CAMERAS] = render_state_dict["cameras"]
+            render_state[RenderState.LIDAR] = render_state_dict.get("lidar", {})
+            
+            # Set recon2global_translation if not set (needed for coordinate transformation)
+            if not hasattr(renderer, 'recon2global_translation'):
+                # Try to get from asset manager
+                if hasattr(renderer.asset_manager, 'background_asset_dict') and renderer.asset_manager.background_asset_dict:
+                    bg_asset = renderer.asset_manager.background_asset_dict
+                    if 'background' in bg_asset and 'config' in bg_asset['background']:
+                        recon2global = bg_asset['background']['config'].get('recon2world_translation', [0.0, 0.0, 0.0])
+                        renderer.recon2global_translation = torch.tensor(recon2global[:2], device=self.device)
+                    else:
+                        renderer.recon2global_translation = torch.zeros(2, device=self.device)
+                else:
+                    renderer.recon2global_translation = torch.zeros(2, device=self.device)
+            
+            # Ensure renderer is initialized for this scene
+            # The renderer should already be initialized in get_renderer, but check anyway
+            if not hasattr(renderer, '_initialized') or not renderer._initialized or renderer._scene_id != scene_id:
+                # Re-initialize if needed
+                asset_id = self.scene_id_to_asset_id_mapping.get(scene_id, scene_id)
+                asset_id_clean = asset_id
+                if asset_id_clean[-4:].startswith('-'):
+                    asset_id_clean = asset_id_clean[:-4]
+                
+                reset_asset = renderer.asset_manager.reset(asset_id_clean)
+                if reset_asset:
+                    renderer._prepare_metas()
+                    renderer._init_gaussian_models()
+                    renderer.set_asset(renderer.asset_manager.background_asset_dict)
+                    
+                    # Calibrate agent states properly using ego2globals
+                    ego2globals = None
+                    try:
+                        # Try to get from video_scene_dict first
+                        if hasattr(renderer.asset_manager, 'video_scene_dict') and renderer.asset_manager.video_scene_dict:
+                            video_dict = renderer.asset_manager.video_scene_dict
+                            # Handle nested structure
+                            if isinstance(video_dict, dict) and 'ego2global' not in video_dict and 'frame_infos' not in video_dict:
+                                first_key = next(iter(video_dict.keys()), None)
+                                if first_key and isinstance(video_dict[first_key], dict):
+                                    video_dict = video_dict[first_key]
+                            
+                            # Check for frame_infos first (more common, 301 frames)
+                            if 'frame_infos' in video_dict and len(video_dict['frame_infos']) > 0:
+                                frame_infos = video_dict['frame_infos']
+                                ego2globals_list = []
+                                for fi in frame_infos:
+                                    if 'ego2global' in fi:
+                                        ego2globals_list.append(np.array(fi['ego2global']))
+                                if ego2globals_list:
+                                    ego2globals = np.stack(ego2globals_list)
+                            elif 'ego2global' in video_dict:
+                                ego2globals = np.array(video_dict['ego2global'])
+                                if ego2globals.ndim == 2:
+                                    ego2globals = ego2globals[np.newaxis, ...]
+                        
+                        # Fallback to rig trajectory
+                        if ego2globals is None:
+                            rig = artifact.rig
+                            if rig.trajectory.poses is not None and len(rig.trajectory.poses) > 0:
+                                poses = rig.trajectory.poses
+                                ego2globals_list = []
+                                for pose in poses:
+                                    if hasattr(pose.vec3, 'x'):
+                                        trans = np.array([pose.vec3.x, pose.vec3.y, pose.vec3.z])
+                                    else:
+                                        trans = np.array([pose.vec3[0], pose.vec3[1], pose.vec3[2]])
+                                    
+                                    if hasattr(pose.quat, 'w'):
+                                        quat = np.array([pose.quat.w, pose.quat.x, pose.quat.y, pose.quat.z])
+                                    else:
+                                        quat = np.array(pose.quat)
+                                    
+                                    from src.render.src.utils.gaussian_utils import quat_to_rotmat
+                                    quat_tensor = torch.tensor(quat, dtype=torch.float64).unsqueeze(0)
+                                    rot_mat = quat_to_rotmat(quat_tensor).squeeze(0).numpy()
+                                    
+                                    transform = np.eye(4)
+                                    transform[:3, :3] = rot_mat
+                                    transform[:3, 3] = trans
+                                    ego2globals_list.append(transform)
+                                
+                                ego2globals = np.stack(ego2globals_list)
+                    except Exception as e:
+                        logger.warning(f"Could not compute ego2globals: {e}")
+                    
+                    # Calibrate agent states with ego2globals
+                    renderer.mtgs_agent2states = renderer.calibrate_agent_state(ego2globals=ego2globals)
+                    
+                    renderer.sensor_caches = None
+                
+                renderer._scene_id = scene_id
+                renderer._asset_id = asset_id
+                renderer._initialized = True
+            
+            # Render
+            result = renderer.render(render_state)
+            
+            # Extract image from result
+            # result should be a dict with 'cameras' key containing camera images
+            if "cameras" not in result:
+                raise ValueError("Renderer did not return cameras in result")
+            
+            cameras_dict = result["cameras"]
+            if not cameras_dict:
+                raise ValueError("No cameras in render result")
+            
+            # Get the first camera image (or the requested camera)
+            camera_name = request.camera_intrinsics.logical_id
+            if camera_name in cameras_dict and "image" in cameras_dict[camera_name]:
+                image = cameras_dict[camera_name]["image"]
+            else:
+                # Fallback to first available camera
+                first_camera = next(iter(cameras_dict.values()))
+                image = first_camera.get("image")
+            
+            if image is None:
+                raise ValueError("No image found in render result")
+            
+            # Convert image to bytes
+            # image should be a numpy array (BGR format from OpenCV)
+            if isinstance(image, np.ndarray):
+                # Encode as JPEG or PNG based on request
+                if request.image_format == 1:  # PNG
+                    success, image_bytes = cv2.imencode(".png", image)
+                elif request.image_format == 2:  # JPEG
+                    success, image_bytes = cv2.imencode(
+                        ".jpg", image, [cv2.IMWRITE_JPEG_QUALITY, int(request.image_quality)]
+                    )
+                else:
+                    # Default to JPEG
+                    success, image_bytes = cv2.imencode(".jpg", image)
+                
+                if not success:
+                    raise ValueError("Failed to encode image")
+                
+                # Save rendered image to disk for debugging/visualization
+                self._save_rendered_image(image, scene_id, camera_name, request.frame_start_us)
+                
+                return RGBRenderReturn(image_bytes=image_bytes.tobytes())
+            else:
+                raise ValueError(f"Unexpected image type: {type(image)}")
+        
+        except Exception as e:
+            logger.exception(f"Error rendering RGB image: {e}")
+            context.set_code(grpc.StatusCode.INTERNAL)
+            context.set_details(str(e))
+            raise
+
+    def render_aggregated(
+        self,
+        request: AggregatedRenderRequest,
+        context: grpc.ServicerContext,
+    ) -> AggregatedRenderReturn:
+        """Render multiple RGB images efficiently by batching."""
+        if not request.rgb_requests:
+            return AggregatedRenderReturn()
+        
+        # Check if all requests can be batched (same scene, same timestamp)
+        first_request = request.rgb_requests[0]
+        scene_id = first_request.scene_id
+        frame_start_us = first_request.frame_start_us
+        
+        can_batch = all(
+            req.scene_id == scene_id and req.frame_start_us == frame_start_us
+            for req in request.rgb_requests
+        )
+        
+        if not can_batch:
+            # Fallback: render each request individually
+            logger.warning(
+                f"Cannot batch render_aggregated: requests have different scenes or timestamps. "
+                f"Falling back to sequential rendering."
+            )
+            rgb_returns = []
+            for rgb_request in request.rgb_requests:
+                rgb_return = self.render_rgb(rgb_request, context)
+                rgb_returns.append(rgb_return)
+            return AggregatedRenderReturn(rgb_returns=rgb_returns)
+        
+        # Optimized path: batch render all cameras in one call
+        try:
+            return self._render_aggregated_batch(request, context)
+        except Exception as e:
+            logger.exception(f"Batch rendering failed: {e}. Falling back to sequential rendering.")
+            # Fallback to sequential rendering
+            rgb_returns = []
+            for rgb_request in request.rgb_requests:
+                try:
+                    rgb_return = self.render_rgb(rgb_request, context)
+                    rgb_returns.append(rgb_return)
+                except Exception as req_error:
+                    logger.error(f"Failed to render camera {rgb_request.camera_intrinsics.logical_id}: {req_error}")
+                    rgb_returns.append(RGBRenderReturn())  # Empty response for failed camera
+            return AggregatedRenderReturn(rgb_returns=rgb_returns)
+
+    def _render_aggregated_batch(
+        self,
+        request: AggregatedRenderRequest,
+        context: grpc.ServicerContext,
+    ) -> AggregatedRenderReturn:
+        """
+        Optimized batch rendering: render once, extract all cameras.
+        
+        This method assumes all requests have the same scene_id and frame_start_us.
+        """
+        first_request = request.rgb_requests[0]
+        scene_id = first_request.scene_id
+        
+        if scene_id not in self.artifacts:
+            context.set_code(grpc.StatusCode.NOT_FOUND)
+            context.set_details(f"Scene {scene_id} not found")
+            return AggregatedRenderReturn()
+        
+        artifact = self.artifacts[scene_id]
+        renderer = self.get_renderer(scene_id)
+        
+        # Convert first request to RenderState (all requests share same ego state and timestamp)
+        render_state_dict = rgb_render_request_to_render_state(
+            first_request, 
+            asset_manager=renderer.asset_manager
+        )
+        render_state = RenderState(**render_state_dict)
+        
+        # Single render call for all cameras
+        logger.info(f"Batch rendering {len(request.rgb_requests)} cameras for scene {scene_id}")
+        result = renderer.render(render_state)
+        
+        if "cameras" not in result:
+            raise ValueError("Renderer did not return cameras in result")
+        
+        cameras_dict = result["cameras"]
+        if not cameras_dict:
+            raise ValueError("No cameras in render result")
+        
+        # Extract and encode images for all requested cameras
+        rgb_returns = []
+        for rgb_request in request.rgb_requests:
+            camera_name = rgb_request.camera_intrinsics.logical_id
+            
+            # Get image for this camera
+            if camera_name in cameras_dict and "image" in cameras_dict[camera_name]:
+                image = cameras_dict[camera_name]["image"]
+            else:
+                logger.warning(f"Camera {camera_name} not found in render result, using first available")
+                first_camera = next(iter(cameras_dict.values()))
+                image = first_camera.get("image")
+            
+            if image is None:
+                logger.error(f"No image found for camera {camera_name}")
+                rgb_returns.append(RGBRenderReturn())
+                continue
+            
+            # Encode image
+            if not isinstance(image, np.ndarray):
+                logger.error(f"Unexpected image type for camera {camera_name}: {type(image)}")
+                rgb_returns.append(RGBRenderReturn())
+                continue
+            
+            # Encode based on format
+            if rgb_request.image_format == 1:  # PNG
+                success, image_bytes = cv2.imencode(".png", image)
+            elif rgb_request.image_format == 2:  # JPEG
+                success, image_bytes = cv2.imencode(
+                    ".jpg", image, [cv2.IMWRITE_JPEG_QUALITY, int(rgb_request.image_quality)]
+                )
+            else:
+                # Default to JPEG
+                success, image_bytes = cv2.imencode(".jpg", image)
+            
+            if not success:
+                logger.error(f"Failed to encode image for camera {camera_name}")
+                rgb_returns.append(RGBRenderReturn())
+                continue
+            
+            # Save rendered image to disk for debugging/visualization
+            self._save_rendered_image(image, scene_id, camera_name, rgb_request.frame_start_us)
+            
+            rgb_returns.append(RGBRenderReturn(image_bytes=image_bytes.tobytes()))
+        
+        logger.info(f"Batch rendering completed: {len(rgb_returns)}/{len(request.rgb_requests)} cameras successful")
+        
+        # Save panorama view combining all cameras
+        self._save_panorama_view(cameras_dict, scene_id, first_request.frame_start_us)
+        
+        return AggregatedRenderReturn(rgb_returns=rgb_returns)
+
+    def render_lidar(
+        self, request, context: grpc.ServicerContext
+    ):
+        """Render LiDAR data (not implemented yet)."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details("LiDAR rendering not implemented for MTGS")
+        raise NotImplementedError("LiDAR rendering not implemented")
+
+    def shut_down(self, request: Empty, context: grpc.ServicerContext) -> Empty:
+        """Shut down the service."""
+        logger.info("shut_down")
+        context.add_callback(self._shut_down)
+        return Empty()
+
+    def _save_rendered_image(
+        self, 
+        image: np.ndarray, 
+        scene_id: str, 
+        camera_id: str, 
+        timestamp_us: int
+    ) -> None:
+        """Save rendered image to disk for visualization.
+        
+        Images are saved to: {workspace}/rendered_images/{scene_id}/{camera_id}_{timestamp}.jpg
+        """
+        import os
+        
+        # Create output directory
+        output_dir = os.path.join(
+            os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(__file__))))),
+            "rendered_images",
+            scene_id
+        )
+        os.makedirs(output_dir, exist_ok=True)
+        
+        # Save image
+        filename = f"{camera_id}_{timestamp_us}.jpg"
+        filepath = os.path.join(output_dir, filename)
+        
+        success = cv2.imwrite(filepath, image)
+        if success:
+            logger.debug(f"Saved rendered image: {filepath}")
+        else:
+            logger.warning(f"Failed to save rendered image: {filepath}")
+    
+    def _save_panorama_view(
+        self,
+        cameras_dict: dict,
+        scene_id: str,
+        timestamp_us: int,
+        target_size: tuple = (640, 360) 
+    ) -> None:
+        """
+        Save a 3x3 panorama view combining all 8 cameras with center black.
+        
+        Layout:
+            CAM_L0  CAM_F0  CAM_R0
+            CAM_L1  BLACK   CAM_R1
+            CAM_L2  CAM_B0  CAM_R2
+        
+        Args:
+            cameras_dict: Dictionary of camera images from renderer
+            scene_id: Scene ID for output directory
+            timestamp_us: Timestamp for filename
+            target_size: Size to resize each camera view (width, height)
+        """
+        import os
+        
+        # Camera layout mapping (3x3 grid)
+        layout = [
+            ['CAM_L0', 'CAM_F0', 'CAM_R0'],
+            ['CAM_L1', 'BLACK',  'CAM_R1'],
+            ['CAM_L2', 'CAM_B0', 'CAM_R2']
+        ]
+        
+        # Create black placeholder
+        black_image = np.zeros((target_size[1], target_size[0], 3), dtype=np.uint8)
+        
+        # Build panorama row by row
+        rows = []
+        for row_cameras in layout:
+            row_images = []
+            for camera_id in row_cameras:
+                if camera_id == 'BLACK':
+                    row_images.append(black_image)
+                elif camera_id in cameras_dict and 'image' in cameras_dict[camera_id]:
+                    # Resize camera image to target size
+                    img = cameras_dict[camera_id]['image']
+                    resized = cv2.resize(img, target_size, interpolation=cv2.INTER_LINEAR)
+                    row_images.append(resized)
+                else:
+                    # Missing camera - use black placeholder
+                    logger.warning(f"Camera {camera_id} not found for panorama view")
+                    row_images.append(black_image)
+            
+            # Concatenate images horizontally
+            row_image = np.hstack(row_images)
+            rows.append(row_image)
+        
+        # Concatenate all rows vertically
+        panorama = np.vstack(rows)
+        
+        # Save panorama
+        output_dir = os.path.join(
+            os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(__file__))))),
+            "rendered_images",
+            scene_id
+        )
+        os.makedirs(output_dir, exist_ok=True)
+        
+        filename = f"panorama_{timestamp_us}.jpg"
+        filepath = os.path.join(output_dir, filename)
+        
+        success = cv2.imwrite(filepath, panorama)
+        if success:
+            logger.info(f"Saved panorama view ({panorama.shape[1]}x{panorama.shape[0]}): {filepath}")
+        else:
+            logger.warning(f"Failed to save panorama view: {filepath}")
+
+    def _shut_down(self) -> None:
+        """Internal shutdown callback."""
+        self.server.stop(0)
\ No newline at end of file
diff --git a/src/runtime/alpasim_runtime/services/sensorsim_service.py b/src/runtime/alpasim_runtime/services/sensorsim_service.py
index 6845c737..b4bdcf66 100644
--- a/src/runtime/alpasim_runtime/services/sensorsim_service.py
+++ b/src/runtime/alpasim_runtime/services/sensorsim_service.py
@@ -21,6 +21,7 @@
     PosePair,
     RGBRenderRequest,
     RGBRenderReturn,
+    ShutterType,
 )
 from alpasim_grpc.v0.sensorsim_pb2_grpc import SensorsimServiceStub
 from alpasim_runtime.camera_catalog import CameraCatalog
@@ -81,7 +82,66 @@ async def get_available_cameras(
     ) -> list[AvailableCamerasReturn.AvailableCamera]:
         """Fetch available cameras for `scene_id`, skipping RPC in skip mode."""
         if self.skip:
-            return []
+            logger.info("Skip mode: sensorsim returning fake CAM")
+            # In skip mode, return fake cameras from extra_cameras config
+            # so that merge_local_and_sensorsim_cameras can work properly
+            local_overrides = self._camera_catalog.get_local_override_cameras()
+            fake_cameras = []
+            for cfg in local_overrides:
+                # Create a minimal AvailableCamera from config
+                # If config is complete, use it; otherwise create a minimal one
+                # that will be filled in by merge_local_and_sensorsim_cameras
+                camera = AvailableCamerasReturn.AvailableCamera(
+                    logical_id=cfg.logical_id,
+                )
+                # If config has all required fields, create a complete camera
+                if (
+                    cfg.rig_to_camera is not None
+                    and cfg.intrinsics is not None
+                    and cfg.resolution_hw is not None
+                    and cfg.shutter_type is not None
+                ):
+                    # Create camera definition from config and convert to proto
+                    from alpasim_runtime.camera_catalog import CameraDefinition
+
+                    camera_def = CameraDefinition.from_config(cfg)
+                    camera = camera_def.as_proto()
+                else:
+                    # Create minimal camera with placeholder values
+                    # These will be overridden by merge_local_and_sensorsim_cameras
+                    camera.intrinsics.logical_id = cfg.logical_id
+                    camera.intrinsics.resolution_h = cfg.resolution_hw[0] if cfg.resolution_hw else 1080
+                    camera.intrinsics.resolution_w = cfg.resolution_hw[1] if cfg.resolution_hw else 1920
+                    # Set shutter_type with default fallback
+                    try:
+                        camera.intrinsics.shutter_type = ShutterType.Value(
+                            cfg.shutter_type or "GLOBAL"
+                        )
+                    except ValueError:
+                        camera.intrinsics.shutter_type = ShutterType.GLOBAL
+                    # Set minimal intrinsics (opencv_pinhole with default values)
+                    # This is required for CameraDefinition.from_proto to work
+                    if cfg.intrinsics is None:
+                        pinhole = camera.intrinsics.opencv_pinhole_param
+                        pinhole.focal_length_x = camera.intrinsics.resolution_w
+                        pinhole.focal_length_y = camera.intrinsics.resolution_h
+                        pinhole.principal_point_x = camera.intrinsics.resolution_w / 2.0
+                        pinhole.principal_point_y = camera.intrinsics.resolution_h / 2.0
+                    # Set default rig_to_camera (identity)
+                    camera.rig_to_camera.quat.w = 1.0
+                    if cfg.rig_to_camera is not None:
+                        camera.rig_to_camera.vec.x = cfg.rig_to_camera.translation_m[0]
+                        camera.rig_to_camera.vec.y = cfg.rig_to_camera.translation_m[1]
+                        camera.rig_to_camera.vec.z = cfg.rig_to_camera.translation_m[2]
+                        camera.rig_to_camera.quat.x = cfg.rig_to_camera.rotation_xyzw[0]
+                        camera.rig_to_camera.quat.y = cfg.rig_to_camera.rotation_xyzw[1]
+                        camera.rig_to_camera.quat.z = cfg.rig_to_camera.rotation_xyzw[2]
+                        camera.rig_to_camera.quat.w = cfg.rig_to_camera.rotation_xyzw[3]
+                fake_cameras.append(camera)
+            logger.info(
+                f"Skip mode: returning {len(fake_cameras)} fake cameras from extra_cameras config"
+            )
+            return fake_cameras
 
         if scene_id in self._available_cameras:
             return self._copy_available_cameras(self._available_cameras[scene_id])
@@ -218,6 +278,20 @@ def trajectory_to_pose_pair(
             delta=definition.rig_to_camera,
         )
 
+        # Create ego_pose (ego vehicle pose without rig_to_camera transform)
+        # This is used by MTGS renderer which needs the actual ego position
+        ego_pose = trajectory_to_pose_pair(
+            ego_trajectory,
+            delta=None,  # No rig_to_camera transform for ego pose
+        )
+
+        # Get rig_to_camera as grpc Pose for MTGS renderer
+        rig_to_camera_pose = (
+            definition.rig_to_camera.as_grpc_pose()
+            if definition.rig_to_camera is not None
+            else None
+        )
+
         return RGBRenderRequest(
             scene_id=scene_id,
             resolution_h=camera.render_resolution_hw[0],
@@ -226,6 +300,8 @@ def trajectory_to_pose_pair(
             frame_start_us=start_us,
             frame_end_us=end_us,
             sensor_pose=sensor_pose,
+            ego_pose=ego_pose,  # Add ego_pose for MTGS renderer
+            rig_to_camera=rig_to_camera_pose,  # Add rig_to_camera for MTGS
             dynamic_objects=dynamic_objects,
             image_format=image_format,
             image_quality=95,
@@ -277,13 +353,15 @@ async def aggregated_render(
         )
 
         images_with_metadata = []
-        for rgb_response in response.rgb_responses:
+        # Match responses with requests to get metadata (timestamps, camera_id)
+        # RGBRenderReturn only contains image_bytes, so we need to get metadata from the request
+        for rgb_request, rgb_response in zip(request.rgb_requests, response.rgb_returns):
             images_with_metadata.append(
                 ImageWithMetadata(
-                    start_timestamp_us=rgb_response.start_timestamp_us,
-                    end_timestamp_us=rgb_response.end_timestamp_us,
+                    start_timestamp_us=rgb_request.frame_start_us,
+                    end_timestamp_us=rgb_request.frame_end_us,
                     image_bytes=rgb_response.image_bytes,
-                    camera_logical_id=rgb_response.camera_logical_id,
+                    camera_logical_id=rgb_request.camera_intrinsics.logical_id,
                 )
             )
 
diff --git a/src/runtime/alpasim_runtime/simulate/__main__.py b/src/runtime/alpasim_runtime/simulate/__main__.py
index 35053768..6daf20e0 100644
--- a/src/runtime/alpasim_runtime/simulate/__main__.py
+++ b/src/runtime/alpasim_runtime/simulate/__main__.py
@@ -67,7 +67,19 @@ def create_arg_parser() -> argparse.ArgumentParser:
     # we split user and network config files because the latter is commonly auto-generated by kubernetes
     parser.add_argument("--user-config", type=str, required=True)
     parser.add_argument("--network-config", type=str, required=True)
-    parser.add_argument("--usdz-glob", type=str, required=True)
+    
+    # Data source: either USDZ glob or trajdata config (mutually exclusive)
+    data_source_group = parser.add_mutually_exclusive_group(required=True)
+    data_source_group.add_argument(
+        "--usdz-glob",
+        type=str,
+        help="Glob pattern for USDZ files (e.g., 'data/**/*.usdz')"
+    )
+    data_source_group.add_argument(
+        "--trajdata-config",
+        type=str,
+        help="Path to JSON/YAML file containing trajdata dataset configuration"
+    )
     parser.add_argument(
         "--log-dir",
         type=str,
diff --git a/src/runtime/alpasim_runtime/worker/ipc.py b/src/runtime/alpasim_runtime/worker/ipc.py
index 0bf8bbcf..d15c1644 100644
--- a/src/runtime/alpasim_runtime/worker/ipc.py
+++ b/src/runtime/alpasim_runtime/worker/ipc.py
@@ -107,8 +107,9 @@ class WorkerArgs:
     result_queue: Queue  # Queue[JobResult]
     allocations: ServiceAllocations  # Pre-computed service allocations for this worker
     user_config_path: str  # Needed for user config (scenarios, endpoints, etc.)
-    usdz_glob: str
     log_dir: str  # Root directory for outputs (asl/, metrics/, txt-logs/)
+    usdz_glob: str | None = None
+    trajdata_config_path: str | None = None
     # For orphan detection in subprocess mode. None disables detection (inline mode).
     parent_pid: Optional[int] = None
     # Shared RPC tracking for global queue depth metrics across processes
diff --git a/src/runtime/alpasim_runtime/worker/main.py b/src/runtime/alpasim_runtime/worker/main.py
index 015bf504..34f33b38 100644
--- a/src/runtime/alpasim_runtime/worker/main.py
+++ b/src/runtime/alpasim_runtime/worker/main.py
@@ -184,7 +184,8 @@ async def worker_async_main(args: WorkerArgs) -> None:
         dispatcher = await Dispatcher.create(
             user_config=user_config,
             allocations=args.allocations,
-            usdz_glob=args.usdz_glob,
+            usdz_glob=getattr(args, 'usdz_glob', None),
+            trajdata_config_path=getattr(args, 'trajdata_config_path', None),
             asl_dir=asl_dir,
         )
 
diff --git a/src/runtime/alpasim_runtime/worker/pool.py b/src/runtime/alpasim_runtime/worker/pool.py
index 39de0ebc..a1b1d817 100644
--- a/src/runtime/alpasim_runtime/worker/pool.py
+++ b/src/runtime/alpasim_runtime/worker/pool.py
@@ -227,7 +227,8 @@ async def _run_inline_worker(
         result_queue=result_queue,
         allocations=allocations,
         user_config_path=args.user_config,
-        usdz_glob=args.usdz_glob,
+        usdz_glob=getattr(args, 'usdz_glob', None),
+        trajdata_config_path=getattr(args, 'trajdata_config', None),
         log_dir=log_dir,
         parent_pid=None,  # Disable orphan detection for inline mode
     )
@@ -300,7 +301,8 @@ async def _run_subprocess_workers(
             result_queue=result_queue,
             allocations=all_allocations[worker_id],
             user_config_path=args.user_config,
-            usdz_glob=args.usdz_glob,
+            usdz_glob=getattr(args, 'usdz_glob', None),
+            trajdata_config_path=getattr(args, 'trajdata_config', None),
             parent_pid=parent_pid,
             log_dir=log_dir,
             shared_rpc_tracking=shared_rpc_tracking,
diff --git a/src/utils/alpasim_utils/artifact.py b/src/utils/alpasim_utils/artifact.py
index db91d8c7..fcaca9c6 100644
--- a/src/utils/alpasim_utils/artifact.py
+++ b/src/utils/alpasim_utils/artifact.py
@@ -238,8 +238,12 @@ def map(self) -> Optional[VectorMap]:
             # Try loading map data
             map_loaded = False
             with zipfile.ZipFile(self.source, "r") as zip_file:
-                # Try loading map from xodr
-                if self._load_xodr_map(zip_file):
+                # Try loading map from protobuf (preferred, directly from VectorMap)
+                if self._load_pb_map(zip_file):
+                    map_loaded = True
+                    logger.info("Successfully loaded map from protobuf")
+                # Fallback to XODR if protobuf not available
+                elif self._load_xodr_map(zip_file):
                     map_loaded = True
                     logger.info("Successfully loaded map from XODR")
 
@@ -260,6 +264,43 @@ def map(self) -> Optional[VectorMap]:
             self._attempted_map_load = True
             return self._map
 
+    def _load_pb_map(self, zip_file: zipfile.ZipFile) -> bool:
+        """Load map from protobuf file.
+
+        Args:
+            zip_file: Open ZipFile instance
+
+        Returns:
+            True if map was successfully loaded, False otherwise
+        """
+        try:
+            # Open protobuf file
+            with zip_file.open("map.pb", "r") as pb_file:
+                pb_bytes = pb_file.read()
+
+            # Parse protobuf
+            if VectorMap is None:
+                logger.warning("VectorMap is not available, cannot load protobuf map")
+                return False
+
+            import trajdata.proto.vectorized_map_pb2 as map_proto
+
+            vec_map_proto = map_proto.VectorizedMap()
+            vec_map_proto.ParseFromString(pb_bytes)
+
+            # Convert from protobuf to VectorMap
+            # Note: We use default parameters (incl_road_lanes=True, etc.)
+            # which matches the typical usage in trajdata
+            self._map = VectorMap.from_proto(vec_map_proto)
+
+            return True
+        except (KeyError, FileNotFoundError) as e:
+            logger.debug(f"Could not load protobuf map: {e}")
+            return False
+        except Exception as e:
+            logger.warning(f"Failed to load protobuf map: {e}")
+            return False
+
     def _load_xodr_map(self, zip_file: zipfile.ZipFile) -> bool:
         """Load map from XODR file.
 
diff --git a/src/utils/alpasim_utils/data_source_loader.py b/src/utils/alpasim_utils/data_source_loader.py
new file mode 100644
index 00000000..4242ed08
--- /dev/null
+++ b/src/utils/alpasim_utils/data_source_loader.py
@@ -0,0 +1,103 @@
+# SPDX-License-Identifier: Apache-2.0
+# Copyright (c) 2025 NVIDIA Corporation
+
+"""
+Unified data source loader: supports loading data from USDZ or trajdata.
+"""
+
+from __future__ import annotations
+
+import json
+import logging
+from pathlib import Path
+from typing import Optional
+
+from alpasim_utils.artifact import Artifact
+from alpasim_utils.scene_data_source import SceneDataSource
+
+logger = logging.getLogger(__name__)
+
+try:
+    from trajdata.dataset import UnifiedDataset
+    from alpasim_utils.trajdata_data_source import discover_from_trajdata_dataset
+    TRAJDATA_AVAILABLE = True
+except ImportError as e:
+    TRAJDATA_AVAILABLE = False
+    UnifiedDataset = None
+    logger.debug(f"trajdata not available: {e}. Trajdata loading will be disabled.")
+
+
+def load_data_sources(
+    usdz_glob: Optional[str] = None,
+    trajdata_config_path: Optional[str] = None,
+    smooth_trajectories: bool = True,
+) -> dict[str, SceneDataSource]:
+    """
+    Unified data source loading function that supports loading from USDZ or trajdata.
+    
+    Args:
+        usdz_glob: Glob pattern for USDZ files (mutually exclusive with trajdata_config_path)
+        trajdata_config_path: Path to JSON/YAML file containing trajdata configuration
+        smooth_trajectories: Whether to smooth trajectories
+    
+    Returns:
+        dict[scene_id, SceneDataSource]
+    
+    Raises:
+        ValueError: If both or neither of usdz_glob and trajdata_config_path are provided
+        ImportError: If trajdata is not installed but trajdata_config_path is provided
+    """
+    if usdz_glob is not None and trajdata_config_path is not None:
+        raise ValueError(
+            "Cannot specify both usdz_glob and trajdata_config_path. Choose one."
+        )
+    
+    if usdz_glob is None and trajdata_config_path is None:
+        raise ValueError(
+            "Either usdz_glob or trajdata_config_path must be provided."
+        )
+    
+    if usdz_glob is not None:
+        # Load from USDZ files
+        logger.info(f"Loading artifacts from USDZ files: {usdz_glob}")
+        artifacts = Artifact.discover_from_glob(
+            usdz_glob, smooth_trajectories=smooth_trajectories
+        )
+        logger.info(f"Loaded {len(artifacts)} scenes from USDZ files")
+        return artifacts
+    
+    # Load from trajdata
+    if not TRAJDATA_AVAILABLE:
+        raise ImportError(
+            "trajdata is not installed. Install trajdata to use trajdata_config_path option."
+        )
+    
+    logger.info(f"Loading artifacts from trajdata config: {trajdata_config_path}")
+    
+    # Load config file
+    config_path = Path(trajdata_config_path)
+    if not config_path.exists():
+        raise FileNotFoundError(f"Trajdata config file not found: {config_path}")
+    
+    with open(config_path, 'r') as f:
+        if config_path.suffix.lower() in ['.yaml', '.yml']:
+            import yaml
+            config = yaml.safe_load(f)
+        else:
+            # Assume JSON
+            config = json.load(f)
+    
+    # Extract scene_indices if provided
+    scene_indices = config.pop("scene_indices", None)
+    
+    # Create UnifiedDataset
+    dataset = UnifiedDataset(**config)
+    
+    # Discover data sources
+    artifacts = discover_from_trajdata_dataset(
+        dataset=dataset,
+        scene_indices=scene_indices,
+        smooth_trajectories=smooth_trajectories,
+    )
+    logger.info(f"Loaded {len(artifacts)} scenes from trajdata dataset")
+    return artifacts
diff --git a/src/utils/alpasim_utils/geometry_utils.py b/src/utils/alpasim_utils/geometry_utils.py
new file mode 100644
index 00000000..5b6796de
--- /dev/null
+++ b/src/utils/alpasim_utils/geometry_utils.py
@@ -0,0 +1,223 @@
+import numbers
+import math
+import json
+from pathlib import Path
+from dataclasses import dataclass
+from typing import List
+from enum import IntEnum
+
+import numpy as np
+import numpy.typing as npt
+from nuplan.common.actor_state.state_representation import StateSE2
+
+class SE2Index(IntEnum):
+    """Index mapping for state se2 (x,y,θ) arrays."""
+
+    X = 0
+    Y = 1
+    HEADING = 2
+
+def normalize_angle(angle):
+    """
+    Map a angle in range [-π, π]
+    :param angle: any angle as float
+    :return: normalized angle
+    """
+    return np.arctan2(np.sin(angle), np.cos(angle))
+
+def convert_absolute_to_relative_se2_array(
+    origin: StateSE2, state_se2_array: npt.NDArray[np.float64]
+) -> npt.NDArray[np.float64]:
+    """
+    Converts an StateSE2 array from global to relative coordinates.
+    :param origin: origin pose of relative coords system
+    :param state_se2_array: array of SE2 states with (x,y,θ) in last dim
+    :return: SE2 coords array in relative coordinates
+    """
+    assert len(SE2Index) == state_se2_array.shape[-1]
+
+    theta = -origin.heading
+    origin_array = np.array([[origin.x, origin.y, origin.heading]], dtype=np.float64)
+
+    R = np.array([[np.cos(theta), -np.sin(theta)], [np.sin(theta), np.cos(theta)]])
+
+    points_rel = state_se2_array - origin_array
+    points_rel[..., :2] = points_rel[..., :2] @ R.T
+    points_rel[:, 2] = normalize_angle(points_rel[:, 2])
+
+    return points_rel
+
+@dataclass(frozen=True)
+class Sim2:
+    """Similarity(2) lie group object.
+
+    Args:
+        R: array of shape (2x2) representing 2d rotation matrix
+        t: array of shape (2,) representing 2d translation
+        s: scaling factor
+    """
+
+    R: npt.NDArray[np.float64]
+    t: npt.NDArray[np.float64]
+    s: float
+
+    def __post_init__(self) -> None:
+        """Check validity of rotation, translation, and scale arguments.
+
+        Raises:
+            ValueError: If `R` is not shape (3,3), `t` is not shape (2,),
+                 or `s` is not a numeric type.
+            ZeroDivisionError: If `s` is close or equal to zero.
+        """
+        assert self.R.shape == (2, 2)
+        assert self.t.shape == (2,)
+
+        if not isinstance(self.s, numbers.Number):
+            raise ValueError("Scale `s` must be a numeric type!")
+        if math.isclose(self.s, 0.0):
+            raise ZeroDivisionError(
+                "3x3 matrix formation would require division by zero"
+            )
+    
+    def __repr__(self) -> str:
+        """Return a human-readable string representation of the class."""
+        trans = np.round(self.t, 2)
+        return (
+            f"Angle (deg.): {self.theta_deg:.1f}, Trans.: {trans}, Scale: {self.s:.1f}"
+        )
+
+    def __eq__(self, other: object) -> bool:
+        """Check for equality with other Sim(2) object."""
+        if not isinstance(other, Sim2):
+            return False
+
+        if not np.isclose(self.scale, other.scale):
+            return False
+
+        if not np.allclose(self.rotation, other.rotation):
+            return False
+
+        if not np.allclose(self.translation, other.translation):
+            return False
+
+        return True
+
+    @property
+    def theta_deg(self) -> float:
+        """Recover the rotation angle `theta` (in degrees) from the 2d rotation matrix.
+
+        Note: the first column of the rotation matrix R provides sine and cosine of theta,
+            since R is encoded as [c,-s]
+                                  [s, c]
+
+        We use the following identity: tan(theta) = s/c = (opp/hyp) / (adj/hyp) = opp/adj
+
+        Returns:
+            Rotation angle from the 2d rotation matrix.
+        """
+        c, s = self.R[0, 0], self.R[1, 0]
+        theta_rad = np.arctan2(s, c)
+        return float(np.rad2deg(theta_rad))
+
+    @property
+    def rotation(self) -> npt.NDArray[np.float64]:
+        """Return the 2x2 rotation matrix."""
+        return self.R
+
+    @property
+    def translation(self) -> npt.NDArray[np.float64]:
+        """Return the (2,) translation vector."""
+        return self.t
+
+    @property
+    def scale(self) -> float:
+        """Return the scale."""
+        return self.s
+
+    @property
+    def matrix(self) -> npt.NDArray[np.float64]:
+        """Calculate 3*3 matrix group equivalent."""
+        T = np.zeros((3, 3))
+        T[:2, :2] = self.R
+        T[:2, 2] = self.t
+        T[2, 2] = 1 / self.s
+        return T
+
+    def compose(self, S):
+        """Composition with another Sim2.
+
+        This can be understood via block matrix multiplication, if self is parameterized as (R1,t1,s1)
+        and if `S` is parameterized as (R2,t2,s2):
+
+        [R1  t1]   [R2  t2]   [R1 @ R2   R1@t2 + t1/s2]
+        [0 1/s1] @ [0 1/s2] = [ 0          1/(s1*s2)  ]
+
+        Args:
+            S: Similarity(2) transformation.
+
+        Returns:
+            Composed Similarity(2) transformation.
+        """
+        # fmt: off
+        return Sim2(
+            R=self.R @ S.R,
+            t=self.R @ S.t + ((1.0 / S.s) * self.t), 
+            s=self.s * S.s
+        )
+        # fmt: on
+
+    def inverse(self):
+        """Return the inverse."""
+        Rt = self.R.T
+        sRt = -Rt @ (self.s * self.t)
+        return Sim2(Rt, sRt, 1.0 / self.s)
+
+    def transform_from(self, points_xy):
+        """Transform point cloud from reference frame a to b.
+
+        If the points are in frame A, and our Sim(3) transform is defines as bSa, then we get points
+        back in frame B:
+            p_b = bSa * p_a
+        Action on a point p is s*(R*p+t).
+
+        Args:
+            points_xy: Nx2 array representing 2d points in frame A.
+
+        Returns:
+            Nx2 array representing 2d points in frame B.
+
+        Raises:
+            ValueError: if `points_xy` isn't in R^2.
+        """
+        if not points_xy.ndim == 2:
+            raise ValueError("Input points are not 2-dimensional.")
+        assert points_xy.shape[1] == 2
+        # (2,2) x (2,N) + (2,1) = (2,N) -> transpose
+        transformed_point_cloud = (points_xy @ self.R.T) + self.t
+
+        # now scale points
+        return transformed_point_cloud * self.s
+
+    @classmethod
+    def from_json(cls, json_fpath: Path):
+        """Generate class inst. from a JSON file containing Sim(2) parameters as flattened matrices (row-major)."""
+        with json_fpath.open("r") as f:
+            json_data = json.load(f)
+
+        R = np.array(json_data["R"]).reshape(2, 2)
+        t = np.array(json_data["t"]).reshape(2)
+        s = float(json_data["s"])
+        return cls(R, t, s)
+
+    @classmethod
+    def from_matrix(cls, T: npt.NDArray[np.float64]):
+        """Generate class instance from a 3x3 Numpy matrix."""
+        if np.isclose(T[2, 2], 0.0):
+            raise ZeroDivisionError(
+                "Sim(2) scale calculation would lead to division by zero."
+            )
+
+        R = T[:2, :2]
+        t = T[:2, 2]
+        s = 1 / T[2, 2]
+        return cls(R, t, s)
diff --git a/src/utils/alpasim_utils/mtgs_artifact_adapter.py b/src/utils/alpasim_utils/mtgs_artifact_adapter.py
new file mode 100644
index 00000000..4d3c35af
--- /dev/null
+++ b/src/utils/alpasim_utils/mtgs_artifact_adapter.py
@@ -0,0 +1,471 @@
+# SPDX-License-Identifier: Apache-2.0
+# Copyright (c) 2025 NVIDIA Corporation
+
+"""
+Adapter for converting alpasim data formats to MTGS renderer formats.
+
+This module provides conversion utilities between:
+- alpasim gRPC messages (RGBRenderRequest, PosePair, etc.)
+- MTGS RenderState and camera configurations
+"""
+
+from __future__ import annotations
+
+import logging
+from typing import Any, Dict, Optional
+
+import numpy as np
+from pyquaternion import Quaternion
+
+from alpasim_grpc.v0.common_pb2 import Pose as GrpcPose
+from alpasim_grpc.v0.sensorsim_pb2 import (
+    AvailableCamerasReturn,
+    CameraSpec,
+    DynamicObject,
+    RGBRenderRequest,
+)
+from alpasim_utils.qvec import QVec
+from alpasim_utils.scene_data_source import SceneDataSource
+
+logger = logging.getLogger(__name__)
+
+
+# ==================================================================================
+# Nuplan SDK Standard Camera/Lidar Extrinsics (Fixed for all Pacifica vehicles)
+# ==================================================================================
+# These values are used to override potentially incorrect values from video_scene_dict.pkl
+# All sensor2ego transformations are relative to the rear axle (ego coordinate origin).
+
+# LIDAR_TOP to ego (rear axle) transformation
+NUPLAN_LIDAR2EGO = {
+    'translation': np.array([1.5185133218765259, 0.0, 1.6308990716934204]),
+    'rotation': np.array([-0.0016505558783280307, -0.00023289146777086609, 
+                          0.003725490480134295, 0.9999916710390838]),  # [x, y, z, w]
+}
+
+# Flag to enable/disable override (set to True to use Nuplan standard values)
+USE_NUPLAN_STANDARD_EXTRINSICS = True
+
+logger.info(f"USE_NUPLAN_STANDARD_EXTRINSICS: {USE_NUPLAN_STANDARD_EXTRINSICS}")
+if USE_NUPLAN_STANDARD_EXTRINSICS:
+    logger.info("Will override sensor2ego from video_scene_dict with values from pkl (which are already correct)")
+    logger.info("Will override lidar2ego with Nuplan standard values")
+
+
+def grpc_pose_to_quaternion_and_translation(grpc_pose: GrpcPose) -> tuple[np.ndarray, np.ndarray]:
+    """
+    Convert gRPC Pose to quaternion and translation.
+    
+    Args:
+        grpc_pose: gRPC Pose message
+        
+    Returns:
+        Tuple of (quaternion [w, x, y, z], translation [x, y, z])
+    """
+    quat = np.array([grpc_pose.quat.w, grpc_pose.quat.x, grpc_pose.quat.y, grpc_pose.quat.z])
+    trans = np.array([grpc_pose.vec.x, grpc_pose.vec.y, grpc_pose.vec.z])
+    return quat, trans
+
+
+def camera_spec_to_worldengine_format(
+    camera_spec: CameraSpec, rig_to_camera: Optional[GrpcPose] = None
+) -> Dict:
+    """
+    Convert alpasim CameraSpec to MTGS camera format.
+    
+    Args:
+        camera_spec: CameraSpec from gRPC message
+        rig_to_camera: Optional rig_to_camera pose transformation
+        
+    Returns:
+        Dictionary in MTGS camera format:
+        {
+            "channel": str,
+            "sensor2ego_rotation": np.ndarray (quaternion),
+            "sensor2ego_translation": np.ndarray ([x, y, z]),
+            "intrinsic": np.ndarray (3x3),
+            "distortion": np.ndarray,
+            "height": int,
+            "width": int
+        }
+    """
+    camera_dict = {
+        "channel": camera_spec.logical_id,
+        "height": camera_spec.resolution_h,
+        "width": camera_spec.resolution_w,
+    }
+    
+    # Extract intrinsic parameters
+    if camera_spec.HasField("opencv_pinhole_param"):
+        param = camera_spec.opencv_pinhole_param
+        intrinsic = np.array([
+            [param.focal_length_x, 0, param.principal_point_x],
+            [0, param.focal_length_y, param.principal_point_y],
+            [0, 0, 1],
+        ], dtype=np.float32)
+        
+        # Combine radial and tangential distortion
+        radial = list(param.radial_coeffs) if param.radial_coeffs else []
+        tangential = list(param.tangential_coeffs) if param.tangential_coeffs else []
+        # Pad to at least 5 elements (k1, k2, p1, p2, k3)
+        distortion = (radial + [0.0] * (5 - len(radial)))[:5]
+        if len(tangential) >= 2:
+            distortion[2:4] = tangential[:2]
+        distortion = np.array(distortion, dtype=np.float32)
+        
+        camera_dict["intrinsic"] = intrinsic
+        camera_dict["distortion"] = distortion
+    elif camera_spec.HasField("opencv_fisheye_param"):
+        param = camera_spec.opencv_fisheye_param
+        intrinsic = np.array([
+            [param.focal_length_x, 0, param.principal_point_x],
+            [0, param.focal_length_y, param.principal_point_y],
+            [0, 0, 1],
+        ], dtype=np.float32)
+        distortion = np.array(list(param.radial_coeffs) if param.radial_coeffs else [0.0] * 4, dtype=np.float32)
+        camera_dict["intrinsic"] = intrinsic
+        camera_dict["distortion"] = distortion
+    else:
+        logger.warning(f"Unsupported camera parameter type for {camera_spec.logical_id}")
+        # Default intrinsic matrix
+        camera_dict["intrinsic"] = np.eye(3, dtype=np.float32)
+        camera_dict["distortion"] = np.zeros(5, dtype=np.float32)
+    
+    # Extract sensor2ego transformation
+    if rig_to_camera is not None:
+        # rig_to_camera is actually camera_to_rig in the proto (see comment in proto)
+        # We need camera_to_ego, which is the inverse of rig_to_camera
+        quat, trans = grpc_pose_to_quaternion_and_translation(rig_to_camera)
+        # Invert the transformation
+        q_inv = Quaternion(quat[0], quat[1], quat[2], quat[3]).inverse
+        camera_dict["sensor2ego_rotation"] = np.array([q_inv.w, q_inv.x, q_inv.y, q_inv.z])
+        # Translation inversion: t' = -R^T * t
+        rot_matrix = q_inv.rotation_matrix
+        camera_dict["sensor2ego_translation"] = -rot_matrix.T @ trans
+    else:
+        # Default: identity transformation
+        camera_dict["sensor2ego_rotation"] = np.array([1.0, 0.0, 0.0, 0.0])
+        camera_dict["sensor2ego_translation"] = np.array([0.0, 0.0, 0.0])
+    
+    return camera_dict
+
+
+def pose_pair_to_agent_state(
+    start_pose: GrpcPose, end_pose: GrpcPose, use_start: bool = True
+) -> np.ndarray:
+    """
+    Convert PosePair to MTGS agent_state format [x, y, z, 0, 0, heading].
+    
+    Args:
+        start_pose: Start pose from PosePair
+        end_pose: End pose from PosePair
+        use_start: If True, use start_pose; otherwise use end_pose
+        
+    Returns:
+        numpy array [x, y, z, 0, 0, heading] where heading is yaw angle in radians
+    """
+    pose = start_pose if use_start else end_pose
+    quat, trans = grpc_pose_to_quaternion_and_translation(pose)
+    
+    # Extract yaw from quaternion
+    q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    yaw = q.yaw_pitch_roll[0]
+    
+    # MTGS format: [x, y, z, 0, 0, heading]
+    return np.array([trans[0], trans[1], trans[2], 0.0, 0.0, yaw], dtype=np.float64)
+
+
+def rgb_render_request_to_render_state(
+    request: RGBRenderRequest,
+    asset_manager: Optional[Any] = None,
+) -> Dict:
+    """
+    Convert RGBRenderRequest to MTGS RenderState format.
+    
+    Simplified version: Only extracts scene_id, AGENT_STATE, and TIMESTAMP from request.
+    Camera information is loaded from asset_manager's video_scene_dict (pkl file).
+    
+    Args:
+        request: RGBRenderRequest from gRPC (only scene_id, agent_state, timestamp are used)
+        data_source: Optional SceneDataSource (used for backward compatibility with sensor_pose)
+        asset_manager: MTGSAssetManager for accessing video_scene_dict (required for cameras)
+        
+    Returns:
+        Dictionary compatible with MTGS RenderState:
+        {
+            "timestamp": int (microseconds),
+            "agent_state": Dict[str, np.ndarray],  # {object_id: [x, y, z, 0, 0, heading]}
+            "cameras": Dict[str, Dict],  # {camera_name: camera_config} - loaded from pkl
+        }
+    """
+    # Extract timestamp
+    timestamp = request.frame_start_us
+    
+    # Extract ego agent state
+    # Priority: 1) ego_pose (new field), 2) sensor_pose (backward compatibility)
+    agent_states = {}
+    if request.HasField("ego_pose"):
+        # Use ego_pose directly (preferred for MTGS renderer)
+        ego_state = pose_pair_to_agent_state(
+            request.ego_pose.start_pose,
+            request.ego_pose.end_pose,
+            use_start=True
+        )
+        agent_states["ego"] = ego_state
+    elif request.HasField("sensor_pose"):
+        # Fallback: use sensor_pose as ego_pose (may be inaccurate but allows testing)
+        logger.warning(
+            "ego_pose not found in request, using sensor_pose as fallback. "
+            "Consider updating Runtime to send ego_pose field."
+        )
+        ego_state = pose_pair_to_agent_state(
+            request.sensor_pose.start_pose,
+            request.sensor_pose.end_pose,
+            use_start=True
+        )
+        agent_states["ego"] = ego_state
+    else:
+        raise ValueError("RGBRenderRequest must contain either ego_pose or sensor_pose")
+
+    # Extract traffic agent states from dynamic_objects
+    for dyn_obj in request.dynamic_objects:
+        track_id = dyn_obj.track_id
+        agent_state = pose_pair_to_agent_state(
+            dyn_obj.pose_pair.start_pose,
+            dyn_obj.pose_pair.end_pose,
+            use_start=True
+        )
+        agent_states[track_id] = agent_state
+    
+    # Load camera configuration from asset_manager's video_scene_dict (pkl file)
+    cameras = {}
+    if asset_manager is not None and hasattr(asset_manager, 'video_scene_dict') and asset_manager.video_scene_dict:
+        
+        video_info_raw = asset_manager.video_scene_dict
+        
+        # Handle nested structure: video_scene_dict may be {scene_id: {frame_infos, ...}}
+        # or directly {frame_infos, ...}
+        video_info = video_info_raw
+        if isinstance(video_info_raw, dict) and 'frame_infos' not in video_info_raw:
+            # Nested structure - get the first (and usually only) scene data
+            first_key = next(iter(video_info_raw.keys()), None)
+            if first_key and isinstance(video_info_raw[first_key], dict):
+                video_info = video_info_raw[first_key]
+        
+        if 'frame_infos' not in video_info or len(video_info['frame_infos']) == 0:
+            logger.warning("No frame_infos found in video_scene_dict")
+        else:
+            frame_info = video_info['frame_infos'][0]
+            if 'cams' not in frame_info:
+                logger.warning("No 'cams' found in frame_infos[0]")
+            else:
+                for cam_name, mtgs_cam_info in frame_info['cams'].items():
+                    # Extract intrinsic and distortion (prefer colmap_param if available)
+                    # These are from colmap optimization and should be used as-is
+                    if 'colmap_param' in mtgs_cam_info:
+                        intrinsic = np.array(mtgs_cam_info['colmap_param']['cam_intrinsic'])
+                        distortion = np.array(mtgs_cam_info['colmap_param']['distortion'])
+                    else:
+                        intrinsic = np.array(mtgs_cam_info['cam_intrinsic'])
+                        distortion = np.array(mtgs_cam_info['distortion'])
+                    
+                    # Extract sensor2ego transformation from pkl
+                    # NOTE: Our analysis shows that sensor2ego in video_scene_dict is ALREADY correct
+                    # (relative to rear axle, matching Nuplan SDK standard)
+                    # So we use it directly without override
+                    sensor2ego_rotation = mtgs_cam_info['sensor2ego_rotation']
+                    if isinstance(sensor2ego_rotation, Quaternion):
+                        sensor2ego_rotation = sensor2ego_rotation.elements
+                    else:
+                        sensor2ego_rotation = np.array(sensor2ego_rotation)
+                    
+                    sensor2ego_translation = np.array(mtgs_cam_info['sensor2ego_translation'])
+                    
+                    # Get resolution (default to 1080x1920)
+                    height = mtgs_cam_info.get('height', 1080)
+                    width = mtgs_cam_info.get('width', 1920)
+                    
+                    cameras[cam_name] = {
+                        'channel': cam_name,
+                        'sensor2ego_rotation': sensor2ego_rotation,
+                        'sensor2ego_translation': sensor2ego_translation,
+                        'intrinsic': intrinsic,
+                        'distortion': distortion,
+                        'height': height,
+                        'width': width,
+                    }
+    else:
+        logger.warning("asset_manager or video_scene_dict not available, cameras will be empty")
+    
+    # Setup lidar parameters with Nuplan standard values
+    # The key issue: video_scene_dict may have lidar2ego=[0,0,0], which is incorrect
+    # We override it with the standard Nuplan value here
+    lidar_params = {}
+    if USE_NUPLAN_STANDARD_EXTRINSICS:
+        lidar_params = {
+            'channel': 'LIDAR_TOP',
+            'sensor2ego_translation': NUPLAN_LIDAR2EGO['translation'],
+            'sensor2ego_rotation': NUPLAN_LIDAR2EGO['rotation'],
+        }
+    
+    render_state = {
+        "timestamp": timestamp,
+        "agent_state": agent_states,
+        "cameras": cameras,
+        "lidar": lidar_params,
+    }
+    
+    return render_state
+
+
+def get_available_cameras_from_data_source(
+    asset_manager: Optional[Any] = None,
+) -> list[AvailableCamerasReturn.AvailableCamera]:
+    """
+    Extract available cameras from SceneDataSource or video_info.
+
+    If asset_manager.video_scene_dict is available, extract cameras from pkl file.
+    Otherwise, create default NuPlan cameras.
+
+    Args:
+        data_source: SceneDataSource instance
+        asset_manager: Optional asset manager with video_scene_dict
+
+    Returns:
+        List of AvailableCamera messages
+    """
+    import numpy as np
+    from pyquaternion import Quaternion
+    
+    cameras = []
+    
+    # Try to get cameras from video_info (pkl file)
+    video_info = None
+    if asset_manager is not None and hasattr(asset_manager, 'video_scene_dict') and asset_manager.video_scene_dict:
+        try:
+            # video_scene_dict is a dict, get the first video_info
+            video_scene_dict = asset_manager.video_scene_dict
+            if isinstance(video_scene_dict, dict):
+                video_info = list(video_scene_dict.values())[0]
+            else:
+                video_info = video_scene_dict
+        except Exception as e:
+            logger.warning(f"Failed to get video_info from asset_manager: {e}")
+    
+    if video_info and 'frame_infos' in video_info and len(video_info['frame_infos']) > 0:
+        # Extract cameras from video_info (pkl file)
+        logger.info("Extracting cameras from video_info (pkl file)")
+        frame_info = video_info['frame_infos'][0]
+        
+        for cam_name, cam_info in frame_info['cams'].items():
+            # 1. Extract intrinsic parameters
+            if 'colmap_param' in cam_info:
+                intrinsic = np.array(cam_info['colmap_param']['cam_intrinsic'])
+                distortion = np.array(cam_info['colmap_param']['distortion'])
+            else:
+                intrinsic = np.array(cam_info['cam_intrinsic'])
+                distortion = np.array(cam_info.get('distortion', np.zeros(5)))
+            
+            # Extract focal length and principal point from intrinsic matrix
+            # Intrinsic matrix format: [[fx, 0, cx], [0, fy, cy], [0, 0, 1]]
+            focal_length_x = float(intrinsic[0, 0])
+            focal_length_y = float(intrinsic[1, 1])
+            principal_point_x = float(intrinsic[0, 2])
+            principal_point_y = float(intrinsic[1, 2])
+            
+            # 2. Extract extrinsic parameters (sensor2ego)
+            sensor2ego_rotation = cam_info['sensor2ego_rotation']
+            if isinstance(sensor2ego_rotation, Quaternion):
+                quat_elements = sensor2ego_rotation.elements  # [w, x, y, z]
+            else:
+                quat_elements = np.array(sensor2ego_rotation)
+            
+            sensor2ego_translation = np.array(cam_info['sensor2ego_translation'])
+            
+            # 3. Get resolution
+            height = cam_info.get('height', 1080)
+            width = cam_info.get('width', 1920)
+            
+            # 4. Create CameraSpec
+            camera_spec = CameraSpec(
+                logical_id=cam_name,
+                resolution_h=int(height),
+                resolution_w=int(width),
+            )
+            
+            # Set pinhole intrinsics from matrix
+            pinhole = camera_spec.opencv_pinhole_param
+            pinhole.focal_length_x = focal_length_x
+            pinhole.focal_length_y = focal_length_y
+            pinhole.principal_point_x = principal_point_x
+            pinhole.principal_point_y = principal_point_y
+            
+            # 5. Create rig_to_camera pose
+            # Note: sensor2ego means ego->sensor transformation
+            # rig_to_camera means rig->camera transformation
+            # In nuPlan, ego and rig are typically the same, so we can use sensor2ego directly
+            # But rig_to_camera might need to be the inverse (camera->rig)
+            # Check your coordinate system definition!
+            # For now, assuming rig=ego and rig_to_camera = sensor2ego (ego->sensor = rig->camera)
+            
+            rig_to_camera = GrpcPose()
+            rig_to_camera.vec.x = float(sensor2ego_translation[0])
+            rig_to_camera.vec.y = float(sensor2ego_translation[1])
+            rig_to_camera.vec.z = float(sensor2ego_translation[2])
+            rig_to_camera.quat.w = float(quat_elements[0])  # w is first element
+            rig_to_camera.quat.x = float(quat_elements[1])
+            rig_to_camera.quat.y = float(quat_elements[2])
+            rig_to_camera.quat.z = float(quat_elements[3])
+            
+            available_camera = AvailableCamerasReturn.AvailableCamera(
+                intrinsics=camera_spec,
+                rig_to_camera=rig_to_camera,
+                logical_id=cam_name,
+            )
+            cameras.append(available_camera)
+        
+        logger.info(f"Extracted {len(cameras)} cameras from video_info: {[c.logical_id for c in cameras]}")
+        return cameras
+    
+    # Fallback: Create default cameras if video_info is not available
+    logger.info("No cameras found in video_info, creating default NuPlan cameras")
+    default_cameras = [
+        "CAM_F0",
+        "CAM_L0", "CAM_L1", "CAM_L2",
+        "CAM_R0", "CAM_R1", "CAM_R2",
+        "CAM_B0"
+    ]
+
+    for camera_name in default_cameras:
+        camera_spec = CameraSpec(
+            logical_id=camera_name,
+            resolution_h=1080,
+            resolution_w=1920,
+        )
+
+        # Set default pinhole intrinsics
+        pinhole = camera_spec.opencv_pinhole_param
+        pinhole.focal_length_x = 1920.0
+        pinhole.focal_length_y = 1080.0
+        pinhole.principal_point_x = 960.0
+        pinhole.principal_point_y = 560.0
+
+        # Create identity pose (camera at rig origin, no rotation)
+        rig_to_camera = GrpcPose()
+        rig_to_camera.vec.x = 0.0
+        rig_to_camera.vec.y = 0.0
+        rig_to_camera.vec.z = 0.0
+        rig_to_camera.quat.w = 1.0
+        rig_to_camera.quat.x = 0.0
+        rig_to_camera.quat.y = 0.0
+        rig_to_camera.quat.z = 0.0
+
+        available_camera = AvailableCamerasReturn.AvailableCamera(
+            intrinsics=camera_spec,
+            rig_to_camera=rig_to_camera,
+            logical_id=camera_name,
+        )
+        cameras.append(available_camera)
+
+    logger.info(f"Created {len(cameras)} default cameras: {[c.logical_id for c in cameras]}")
+    return cameras
diff --git a/src/utils/alpasim_utils/scenario.py b/src/utils/alpasim_utils/scenario.py
index abf18dfb..3af89f29 100644
--- a/src/utils/alpasim_utils/scenario.py
+++ b/src/utils/alpasim_utils/scenario.py
@@ -214,7 +214,8 @@ def load_from_json(cls, json_str: str, smooth=True) -> dict[str, Self]:
                     timestamps_us=np.array(timestamps_us, dtype=np.uint64),
                     poses=poses_qvec,
                 )
-                if smooth:
+                if smooth and len(trajectory) >= 2:
+                    # at least 2 points are needed for csaps
                     css = csaps.CubicSmoothingSpline(
                         trajectory.timestamps_us / 1e6,
                         trajectory.poses.vec3.T,  # Expects time in last dimension
@@ -230,6 +231,11 @@ def load_from_json(cls, json_str: str, smooth=True) -> dict[str, Self]:
                             f"Max error in cubic spline approximation: {max_error:.6f} m for {track_id=}"
                         )
                     trajectory.poses.vec3 = filtered_positions
+                elif smooth and len(trajectory) < 2:
+                    logger.warning(
+                        f"Skipping smoothing for {track_id=} with only {len(trajectory)} data point(s). "
+                        "Smoothing requires at least 2 data points."
+                    )
 
                 trajectories[track_id] = TrafficObject(
                     track_id, AABB(*aabb_xyz), trajectory, is_static, track_label
diff --git a/src/utils/alpasim_utils/scene_data_source.py b/src/utils/alpasim_utils/scene_data_source.py
new file mode 100644
index 00000000..57c54964
--- /dev/null
+++ b/src/utils/alpasim_utils/scene_data_source.py
@@ -0,0 +1,78 @@
+# SPDX-License-Identifier: Apache-2.0
+# Copyright (c) 2025 NVIDIA Corporation
+
+"""
+SceneDataSource Protocol for abstracting scene data loading.
+
+This Protocol allows Runtime to work with different data sources (USDZ, Nuplan, Waymo, etc.)
+without being tied to a specific implementation. Any class that implements this Protocol
+can be used as a data source for alpasim Runtime.
+"""
+
+from __future__ import annotations
+
+from typing import Optional, Protocol, runtime_checkable
+
+try:
+    from trajdata.maps import VectorMap
+except ImportError:
+    VectorMap = None  # type: ignore
+
+from alpasim_utils.artifact import Metadata
+from alpasim_utils.scenario import Rig, TrafficObjects
+
+
+@runtime_checkable
+class SceneDataSource(Protocol):
+    """
+    Protocol defining the interface for scene data sources.
+    
+    Any class implementing this protocol can be used as a data source for alpasim Runtime.
+    This allows supporting multiple data formats (USDZ, Nuplan, Waymo, etc.) without
+    modifying Runtime code.
+    
+    Attributes:
+        scene_id: Unique identifier for the scene
+    """
+    
+    scene_id: str
+    
+    @property
+    def rig(self) -> Rig:
+        """
+        Get the rig (ego vehicle) trajectory and configuration.
+        
+        Returns:
+            Rig object containing trajectory, camera IDs, and vehicle config
+        """
+        ...
+    
+    @property
+    def traffic_objects(self) -> TrafficObjects:
+        """
+        Get traffic objects (vehicles, pedestrians, etc.) in the scene.
+        
+        Returns:
+            TrafficObjects dictionary mapping track_id to TrafficObject
+        """
+        ...
+    
+    @property
+    def map(self) -> Optional[VectorMap]:
+        """
+        Get the vector map for the scene.
+        
+        Returns:
+            VectorMap object or None if map data is not available
+        """
+        ...
+    
+    @property
+    def metadata(self) -> Metadata:
+        """
+        Get metadata about the scene.
+        
+        Returns:
+            Metadata object containing scene information
+        """
+        ...
diff --git a/src/utils/alpasim_utils/trajdata_artifact_converter.py b/src/utils/alpasim_utils/trajdata_artifact_converter.py
new file mode 100644
index 00000000..452bde97
--- /dev/null
+++ b/src/utils/alpasim_utils/trajdata_artifact_converter.py
@@ -0,0 +1,821 @@
+# SPDX-License-Identifier: Apache-2.0
+# Copyright (c) 2025 NVIDIA Corporation
+
+"""
+Conversion utilities: convert a trajdata UnifiedDataset into the alpasim Artifact format.
+"""
+
+from __future__ import annotations
+
+import json
+import logging
+import uuid
+import zipfile
+from datetime import datetime
+from pathlib import Path
+from typing import Optional
+
+import numpy as np
+import yaml
+from scipy.spatial.transform import Rotation as R
+
+from alpasim_utils.artifact import Artifact, Metadata
+from alpasim_utils.qvec import QVec
+from alpasim_utils.scenario import AABB, CameraId, Rig, TrafficObject, TrafficObjects, VehicleConfig
+from alpasim_utils.trajectory import Trajectory
+
+logger = logging.getLogger(__name__)
+
+try:
+    from trajdata.caching import EnvCache
+    from trajdata.data_structures.agent import AgentMetadata, AgentType
+    from trajdata.data_structures.scene_metadata import Scene
+    from trajdata.dataset import UnifiedDataset
+    from trajdata.maps import VectorMap
+except ImportError:
+    logger.error("trajdata is required for this conversion function")
+    raise
+
+
+def convert_unified_dataset_to_artifact(
+    dataset: UnifiedDataset,
+    scene_idx: int,
+    output_path: str,
+    scene_id: Optional[str] = None,
+    version_string: str = "trajdata_converted",
+    base_timestamp_us: Optional[int] = None,
+    include_map: bool = True,
+) -> Artifact:
+    """
+    Convert a scene from a UnifiedDataset to the Artifact format and save it as a USDZ file.
+
+    Args:
+        dataset: UnifiedDataset instance.
+        scene_idx: Index of the scene to convert.
+        output_path: Output USDZ file path (must end with .usdz).
+        scene_id: Scene ID (if None, generated from scene.name).
+        version_string: Version string.
+        base_timestamp_us: Base timestamp (microseconds); if None, starts from 0.
+        include_map: Whether to include map data.
+
+    Returns:
+        Artifact instance.
+    """
+    if not output_path.endswith(".usdz"):
+        raise ValueError("output_path must end with .usdz")
+
+    # 1. Get the Scene object
+    scene = dataset.get_scene(scene_idx)
+    scene_path = dataset._scene_index[scene_idx]
+    
+    # Create SceneCache
+    scene_cache = dataset.cache_class(dataset.cache_path, scene, dataset.augmentations)
+    scene_cache.set_obs_format(dataset.obs_format)
+
+    # 2. Generate scene_id
+    if scene_id is None:
+        scene_id = f"trajdata-{scene.env_name}-{scene.name}"
+
+    # 3. Extract full trajectories for all agents
+    dt = scene.dt
+    length_timesteps = scene.length_timesteps
+    
+    # Get all agents
+    all_agents = scene.agents if scene.agents else []
+    
+    # Identify ego agent
+    ego_agent = next((a for a in all_agents if a.name == "ego"), None)
+    if ego_agent is None and len(all_agents) > 0:
+        # If there is no ego, use the first agent
+        ego_agent = all_agents[0]
+        logger.warning(f"No ego agent found, using first agent: {ego_agent.name}")
+
+    # 4. Extract ego trajectory
+    ego_trajectory = None
+    ego_vehicle_config = None
+    if ego_agent:
+        ego_trajectory, ego_vehicle_config = _extract_agent_trajectory(
+            scene, scene_cache, ego_agent, dt, base_timestamp_us
+        )
+
+    # 5. Compute world_to_nre transform matrix (use first trajectory point as origin)
+    world_to_nre = np.eye(4)
+    if ego_trajectory and len(ego_trajectory) > 0:
+        # Get the position of the first trajectory point (global coordinates)
+        first_pose_position = ego_trajectory.poses[0].vec3
+        
+        # Set world_to_nre matrix: use the first trajectory point as origin.
+        # The translation part of world_to_nre = -position of the first trajectory point.
+        world_to_nre[:3, 3] = -first_pose_position
+        
+        logger.info(
+            f"Setting world_to_nre origin at first pose: {first_pose_position}, "
+            f"translation: {world_to_nre[:3, 3]}"
+        )
+    else:
+        logger.warning("No ego trajectory found, using identity world_to_nre matrix")
+
+    # 6. Transform ego trajectory into local coordinates (NRE)
+    if ego_trajectory and len(ego_trajectory) > 0:
+        ego_trajectory = _transform_trajectory_to_local(ego_trajectory, world_to_nre)
+        logger.info(
+            f"Transformed ego trajectory to local coordinates. "
+            f"First pose: {ego_trajectory.poses[0].vec3}"
+        )
+
+    # 7. Extract trajectories of other agents (traffic objects)
+    traffic_objects = {}
+    for agent in all_agents:
+        if agent.name == "ego" or agent == ego_agent:
+            continue
+        
+        trajectory, _ = _extract_agent_trajectory(
+            scene, scene_cache, agent, dt, base_timestamp_us
+        )
+        
+        # Filter out empty trajectories or trajectories with only 1 point (smoothing needs at least 2 points)
+        if trajectory is None or len(trajectory) < 2:
+            continue
+
+        # Transform trajectory into local coordinates (NRE)
+        trajectory = _transform_trajectory_to_local(trajectory, world_to_nre)
+
+        # Get extent of the agent
+        extent = agent.extent
+        if hasattr(extent, 'length'):
+            aabb = AABB(x=extent.length, y=extent.width, z=extent.height)
+        else:
+            # Default size
+            aabb = AABB(x=4.5, y=1.8, z=1.5)
+
+        # Determine whether this is a static object (simple heuristic: very small velocity)
+        is_static = _is_static_object(trajectory)
+
+        # Get agent type label
+        label_class = agent.type.name if hasattr(agent.type, 'name') else "UNKNOWN"
+
+        traffic_objects[agent.name] = TrafficObject(
+            track_id=agent.name,
+            aabb=aabb,
+            trajectory=trajectory,
+            is_static=is_static,
+            label_class=label_class,
+        )
+
+    # 8. Create Rig object
+    rig = None
+    if ego_trajectory and len(ego_trajectory) > 0:
+        
+        # Extract camera information from scene.data_access_info['sensor_calibration']
+        camera_ids, camera_calibrations = _extract_camera_info_from_scene(
+            scene, scene_id
+        )
+        
+        rig = Rig(
+            sequence_id=scene_id,
+            trajectory=ego_trajectory,
+            camera_ids=camera_ids,
+            world_to_nre=world_to_nre,
+            vehicle_config=ego_vehicle_config,
+        )
+        
+        # Store camera_calibrations on the rig object (for later writing to USDZ)
+        rig._camera_calibrations = camera_calibrations
+
+    # 9. Create TrafficObjects
+    traffic_objects_dict = TrafficObjects(traffic_objects)
+
+    # 10. Create Metadata
+    if base_timestamp_us is None:
+        base_timestamp_us = 0
+    
+    time_range_start = float(base_timestamp_us) / 1e6
+    time_range_end = float(base_timestamp_us + length_timesteps * dt * 1e6) / 1e6
+
+    # Extract camera ID list from rig (if present)
+    camera_id_names = []
+    if rig and rig.camera_ids:
+        camera_id_names = [camera_id.logical_name for camera_id in rig.camera_ids]
+
+    metadata = Metadata(
+        scene_id=scene_id,
+        version_string=version_string,
+        training_date=datetime.now().strftime("%Y-%m-%d"),
+        dataset_hash=str(uuid.uuid4()),
+        uuid=str(uuid.uuid4()),
+        is_resumable=False,
+        sensors=Metadata.Sensors(camera_ids=camera_id_names, lidar_ids=[]),
+        logger=Metadata.Logger(name=None, run_id=None, run_url=None),
+        time_range=Metadata.TimeRange(start=time_range_start, end=time_range_end),
+    )
+
+    # 11. Create the USDZ file
+    _create_usdz_file(
+        output_path,
+        metadata,
+        rig,
+        traffic_objects_dict,
+        scene_id,
+        scene,
+        dataset,
+        include_map,
+    )
+
+    # 12. Return the Artifact instance
+    return Artifact(source=output_path)
+
+
+def _extract_camera_info_from_scene(
+    scene: Scene,
+    scene_id: str,
+) -> tuple[list[CameraId], dict]:
+    """
+    Extract camera information from scene.data_access_info['sensor_calibration'].
+    
+    Args:
+        scene: Scene object.
+        scene_id: Scene ID.
+        
+    Returns:
+        (camera_ids, camera_calibrations) tuple.
+        - camera_ids: list of CameraId objects.
+        - camera_calibrations: dict of camera calibration information, in the same format as artifact_2.
+    """
+    camera_ids = []
+    camera_calibrations = {}
+    
+    # Check whether sensor_calibration exists
+    if not hasattr(scene, 'data_access_info') or not scene.data_access_info:
+        logger.warning("scene.data_access_info does not exist, skipping camera info extraction")
+        return camera_ids, camera_calibrations
+    
+    sensor_calibration = scene.data_access_info.get('sensor_calibration')
+    if not sensor_calibration:
+        logger.warning("scene.data_access_info['sensor_calibration'] does not exist, skipping camera info extraction")
+        return camera_ids, camera_calibrations
+    
+    # Iterate over camera information in sensor_calibration.
+    # sensor_calibration is expected to be a dict whose keys are camera names and values are calibration info.
+    if not isinstance(sensor_calibration, dict):
+        logger.warning("sensor_calibration is not a dict, skipping camera info extraction")
+        return camera_ids, camera_calibrations
+    
+    unique_sensor_idx = 0
+    for camera_name, calibration_info in sensor_calibration['cameras'].items():
+        try:
+            # Build unique_camera_id (format: logical_sensor_name@sequence_id)
+            unique_camera_id = f"{camera_name}@{scene_id}"
+            
+            # Extract position and rotation information.
+            # Assume calibration_info contains position and rotation fields.
+            # rotation is a quaternion in the order [x, y, z, w].
+            position = calibration_info.get('sensor2ego_translation', [0.0, 0.0, 0.0])
+            rotation = calibration_info.get('sensor2ego_rotation', [0.0, 0.0, 0.0, 1.0])  # [x, y, z, w]
+            
+            # Ensure position and rotation are lists or arrays
+            if isinstance(position, (int, float)):
+                position = [float(position), 0.0, 0.0]
+            elif len(position) < 3:
+                position = list(position) + [0.0] * (3 - len(position))
+            
+            if isinstance(rotation, (int, float)):
+                rotation = [0.0, 0.0, 0.0, 1.0]
+            elif len(rotation) < 4:
+                # If there are only 3 values, assume they are Euler angles and convert to a quaternion
+                if len(rotation) == 3:
+                    r = R.from_euler('xyz', rotation)
+                    rotation = r.as_quat()  # [x, y, z, w]
+                else:
+                    rotation = [0.0, 0.0, 0.0, 1.0]
+            
+            # Ensure rotation is in [x, y, z, w] format
+            if len(rotation) == 4:
+                qx, qy, qz, qw = rotation[0], rotation[1], rotation[2], rotation[3]
+            else:
+                logger.warning(f"Camera {camera_name} has invalid rotation format, using default value")
+                qx, qy, qz, qw = 0.0, 0.0, 0.0, 1.0
+            
+            # Build the T_sensor_rig transform matrix (4x4).
+            # Build a rotation matrix from the quaternion.
+            r_quat = R.from_quat([qx, qy, qz, qw])
+            rotation_matrix = r_quat.as_matrix()
+            
+            # Build the full transform matrix
+            T_sensor_rig = np.eye(4)
+            T_sensor_rig[:3, :3] = rotation_matrix
+            T_sensor_rig[:3, 3] = position[:3]
+            
+            # Create CameraId object
+            camera_id = CameraId(
+                logical_name=camera_name,
+                trajectory_idx=0,
+                sequence_id=scene_id,
+                unique_id=unique_camera_id,
+            )
+            camera_ids.append(camera_id)
+            
+            # Build camera_calibration dict.
+            # Extract camera intrinsics if present.
+            camera_model = calibration_info.get('camera_model', {})
+            if not camera_model:
+                # If no camera model is provided, fall back to default values
+                camera_model = {
+                    "type": "pinhole",  # Use pinhole model by default
+                    "parameters": {
+                        "resolution": calibration_info.get('resolution', [1920, 1080]),
+                        "focal_length": calibration_info.get('focal_length', [1000.0, 1000.0]),
+                        "principal_point": calibration_info.get('principal_point', [960.0, 540.0]),
+                    }
+                }
+            
+            camera_calibrations[unique_camera_id] = {
+                "sequence_id": scene_id,
+                "logical_sensor_name": camera_name,
+                "unique_sensor_idx": unique_sensor_idx,
+                "T_sensor_rig": T_sensor_rig.tolist(),
+                "camera_model": camera_model,
+            }
+            
+            unique_sensor_idx += 1
+            logger.info(f"Successfully extracted camera info: {camera_name} (unique_id: {unique_camera_id})")
+            
+        except Exception as e:
+            logger.warning(f"Failed to extract camera info for {camera_name}: {e}")
+            continue
+    
+    logger.info(f"Extracted {len(camera_ids)} cameras in total")
+    return camera_ids, camera_calibrations
+
+
+def _extract_agent_trajectory(
+    scene: Scene,
+    scene_cache,
+    agent: AgentMetadata,
+    dt: float,
+    base_timestamp_us: Optional[int],
+) -> tuple[Optional[Trajectory], Optional[VehicleConfig]]:
+    """
+    Extract the full trajectory for an agent.
+
+    Returns:
+        (Trajectory, VehicleConfig) or (None, None) if extraction fails.
+    """
+    try:
+        timestamps_us = []
+        poses_vec3 = []
+        poses_quat = []
+
+        # Iterate over all timesteps
+        for ts in range(agent.first_timestep, agent.last_timestep + 1):
+            try:
+                state = scene_cache.get_raw_state(agent.name, ts)
+                
+                # Get position and heading
+                x = state.get_attr("x") if hasattr(state, 'get_attr') else state.x
+                y = state.get_attr("y") if hasattr(state, 'get_attr') else state.y
+                z = state.get_attr("z") if hasattr(state, 'get_attr') else (state.z if hasattr(state, 'z') else 0.0)
+                heading = state.get_attr("h") if hasattr(state, 'get_attr') else state.h
+
+                # Convert to numpy arrays (handling scalar cases)
+                if isinstance(x, (int, float)):
+                    x = np.array([x])
+                if isinstance(y, (int, float)):
+                    y = np.array([y])
+                if isinstance(z, (int, float)):
+                    z = np.array([z])
+                if isinstance(heading, (int, float)):
+                    heading = np.array([heading])
+
+                # Take the first element (if they are arrays)
+                x_val = float(x[0] if x.ndim > 0 else x)
+                y_val = float(y[0] if y.ndim > 0 else y)
+                z_val = float(z[0] if z.ndim > 0 else z)
+                heading_val = float(heading[0] if heading.ndim > 0 else heading)
+
+                # Compute timestamp
+                if base_timestamp_us is None:
+                    timestamp_us = int(ts * dt * 1e6)
+                else:
+                    timestamp_us = int(base_timestamp_us + ts * dt * 1e6)
+
+                timestamps_us.append(timestamp_us)
+                poses_vec3.append([x_val, y_val, z_val])
+
+                # Convert heading to quaternion.
+                # Heading is in radians, rotation about z-axis.
+                quat = R.from_euler('z', heading_val).as_quat()  # [x, y, z, w]
+                poses_quat.append(quat)
+
+            except Exception as e:
+                logger.debug(f"Failed to get state for agent {agent.name} at ts {ts}: {e}")
+                continue
+
+        if len(timestamps_us) == 0:
+            return None, None
+
+        # Create QVec
+        poses = QVec(
+            vec3=np.array(poses_vec3, dtype=np.float32),
+            quat=np.array(poses_quat, dtype=np.float32),
+        )
+
+        # Create Trajectory
+        trajectory = Trajectory(
+            timestamps_us=np.array(timestamps_us, dtype=np.uint64),
+            poses=poses,
+        )
+
+        # Create VehicleConfig (from extent)
+        vehicle_config = None
+        if hasattr(agent.extent, 'length'):
+            vehicle_config = VehicleConfig(
+                aabb_x_m=agent.extent.length,
+                aabb_y_m=agent.extent.width,
+                aabb_z_m=agent.extent.height,
+                aabb_x_offset_m=-agent.extent.length / 2,  # Simplifying assumption
+                aabb_y_offset_m=0.0,
+                aabb_z_offset_m=-agent.extent.height / 2,
+            )
+
+        return trajectory, vehicle_config
+
+    except Exception as e:
+        logger.error(f"Failed to extract trajectory for agent {agent.name}: {e}")
+        return None, None
+
+
+def _transform_trajectory_to_local(
+    trajectory: Trajectory,
+    world_to_nre: np.ndarray,
+) -> Trajectory:
+    """
+    Transform a trajectory from the global coordinate frame into a local (NRE) frame.
+    
+    Args:
+        trajectory: Trajectory in the global coordinate frame.
+        world_to_nre: Transform matrix from global coordinates to NRE coordinates (4x4).
+    
+    Returns:
+        Trajectory in the local coordinate frame.
+    """
+    # Extract translation component
+    translation = world_to_nre[:3, 3]
+    
+    # Transform positions (vec3)
+    local_positions = trajectory.poses.vec3 + translation
+    
+    # Keep quaternions unchanged (assume pure translation without rotation).
+    # If world_to_nre includes rotation, we would need to apply that to the quaternions.
+    # For now this is simplified to translation only.
+    local_quat = trajectory.poses.quat.copy()
+    
+    # Create a new QVec
+    local_poses = QVec(
+        vec3=local_positions,
+        quat=local_quat,
+    )
+    
+    # Create a new Trajectory
+    return Trajectory(
+        timestamps_us=trajectory.timestamps_us.copy(),
+        poses=local_poses,
+    )
+
+
+def _write_map_to_usdz(
+    zip_file: zipfile.ZipFile,
+    scene: Scene,
+    dataset: UnifiedDataset,
+    logger: logging.Logger,
+) -> None:
+    """
+    Write map information into the USDZ file.
+
+    Prefer to obtain a VectorMap from UnifiedDataset.map_api, then:
+    1. Try to serialize the VectorMap to protobuf and store it (recommended).
+    2. If that fails, try to locate the raw XODR file as a fallback.
+
+    Note: artifact.py must support loading maps from protobuf, otherwise only XODR can be used.
+    """
+    map_written = False
+    
+    # Method 1: directly get a VectorMap from UnifiedDataset and serialize it to protobuf
+    try:
+        if (
+            hasattr(dataset, 'incl_vector_map') 
+            and dataset.incl_vector_map 
+            and hasattr(dataset, '_map_api') 
+            and dataset._map_api
+        ):
+            if hasattr(scene, 'location') and scene.location:
+                map_name = f"{scene.env_name}:{scene.location}"
+                vector_map = dataset._map_api.get_map(map_name, **dataset.vector_map_params)
+                
+                if vector_map:
+                    # Serialize VectorMap to protobuf
+                    try:
+                        import trajdata.proto.vectorized_map_pb2 as map_proto
+                        vec_map_proto = vector_map.to_proto()
+                        proto_bytes = vec_map_proto.SerializeToString()
+                        
+                        # Store as map.pb
+                        zip_file.writestr("map.pb", proto_bytes)
+                        logger.info(f"Successfully wrote VectorMap as protobuf (map.pb) for {map_name}")
+                        map_written = True
+                    except Exception as e:
+                        logger.debug(f"Failed to serialize VectorMap to protobuf: {e}")
+    except Exception as e:
+        logger.debug(f"Could not get VectorMap from dataset API: {e}")
+    
+    # Method 2: if protobuf serialization fails, try to find the original XODR file (fallback)
+    if not map_written:
+        xodr_content = None
+        
+        # Try to find an XODR file in the raw data directories
+        try:
+            if hasattr(scene, 'location') and scene.location:
+                # nuplan XODR files are typically stored in data_dir.parent / "maps" / "{location}.xodr"
+                if hasattr(dataset, 'data_dirs') and dataset.data_dirs:
+                    for env_name, data_dir in dataset.data_dirs.items():
+                        if env_name == scene.env_name:
+                            # According to nuplan_dataset.py:381, map_root = data_dir.parent / "maps"
+                            xodr_path = Path(data_dir).parent / "maps" / f"{scene.location}.xodr"
+                            if xodr_path.exists():
+                                xodr_content = xodr_path.read_text(encoding='utf-8')
+                                logger.info(f"Found XODR file at {xodr_path}")
+                                break
+        except Exception as e:
+            logger.debug(f"Could not find XODR file in data directories: {e}")
+        
+        # If an XODR file is found, write it into the USDZ
+        if xodr_content:
+            zip_file.writestr("map.xodr", xodr_content.encode('utf-8'))
+            logger.info("Successfully wrote map.xodr to USDZ file")
+            map_written = True
+    
+    if not map_written:
+        logger.warning(
+            f"Could not write map for scene {scene.name} "
+            f"(location: {getattr(scene, 'location', 'unknown')}). "
+            f"Map will not be available in the USDZ file."
+        )
+
+
+
+
+def _is_static_object(trajectory: Trajectory, velocity_threshold: float = 0.1) -> bool:
+    """
+    Determine whether an object is static (based on its velocity).
+    """
+    if len(trajectory) < 2:
+        return True
+
+    # Compute average velocity
+    positions = trajectory.poses.vec3
+    timestamps = trajectory.timestamps_us.astype(np.float64) / 1e6  # convert to seconds
+
+    velocities = []
+    for i in range(1, len(positions)):
+        dt_sec = timestamps[i] - timestamps[i - 1]
+        if dt_sec > 0:
+            displacement = np.linalg.norm(positions[i] - positions[i - 1])
+            velocity = displacement / dt_sec
+            velocities.append(velocity)
+
+    if len(velocities) == 0:
+        return True
+
+    avg_velocity = np.mean(velocities)
+    return avg_velocity < velocity_threshold
+
+
+def _create_usdz_file(
+    output_path: str,
+    metadata: Metadata,
+    rig: Optional[Rig],
+    traffic_objects: TrafficObjects,
+    sequence_id: str,
+    scene: Scene,
+    dataset: UnifiedDataset,
+    include_map: bool,
+) -> None:
+    """
+    Create a USDZ file (technically a ZIP file).
+    """
+    output_path = Path(output_path)
+    output_path.parent.mkdir(parents=True, exist_ok=True)
+
+    with zipfile.ZipFile(output_path, 'w', zipfile.ZIP_DEFLATED) as zip_file:
+        # 1. Write metadata.yaml
+        metadata_dict = metadata.to_dict()
+        yaml_content = yaml.dump(metadata_dict, default_flow_style=False)
+        zip_file.writestr("metadata.yaml", yaml_content)
+
+        # 2. Write rig_trajectories.json
+        if rig:
+            # Get camera calibrations if present
+            camera_calibrations = getattr(rig, '_camera_calibrations', {})
+            
+            # Build the cameras_frame_timestamps_us dictionary
+            cameras_frame_timestamps_us = {}
+            if rig.camera_ids:
+                # Use the rig trajectory timestamps for each camera
+                rig_timestamps = rig.trajectory.timestamps_us.tolist()
+                for camera_id in rig.camera_ids:
+                    cameras_frame_timestamps_us[camera_id.unique_id] = rig_timestamps
+            
+            rig_data = {
+                "world_to_nre": {
+                    "matrix": rig.world_to_nre.tolist()
+                },
+                "camera_calibrations": camera_calibrations,
+                "rig_trajectories": [
+                    {
+                        "sequence_id": rig.sequence_id,
+                        "T_rig_world_timestamps_us": rig.trajectory.timestamps_us.tolist(),
+                        "T_rig_worlds": [pose.as_se3().tolist() for pose in rig.trajectory.poses],
+                        "cameras_frame_timestamps_us": cameras_frame_timestamps_us,
+                        "rig_bbox": None,  # can be added later
+                    }
+                ],
+                "T_world_base": np.eye(4).tolist(),  # identity by default
+            }
+
+            # If there is a vehicle_config, add rig_bbox
+            if rig.vehicle_config:
+                rig_data["rig_trajectories"][0]["rig_bbox"] = {
+                    "centroid": [
+                        rig.vehicle_config.aabb_x_offset_m + rig.vehicle_config.aabb_x_m / 2,
+                        rig.vehicle_config.aabb_y_offset_m,
+                        rig.vehicle_config.aabb_z_offset_m + rig.vehicle_config.aabb_z_m / 2,
+                    ],
+                    "dim": [
+                        rig.vehicle_config.aabb_x_m,
+                        rig.vehicle_config.aabb_y_m,
+                        rig.vehicle_config.aabb_z_m,
+                    ],
+                    "rot": [0.0, 0.0, 0.0],
+                }
+
+            zip_file.writestr("rig_trajectories.json", json.dumps(rig_data, indent=2))
+
+        # 3. Write sequence_tracks.json
+        tracks_data = {
+            "tracks_id": [],
+            "tracks_label_class": [],
+            "tracks_flags": [],
+            "tracks_timestamps_us": [],
+            "tracks_poses": [],
+        }
+        cuboids_dims = []
+
+        for track_id, traffic_obj in traffic_objects.items():
+            tracks_data["tracks_id"].append(track_id)
+            tracks_data["tracks_label_class"].append(traffic_obj.label_class)
+            tracks_data["tracks_flags"].append("CONTROLLABLE" if not traffic_obj.is_static else "STATIC")
+            tracks_data["tracks_timestamps_us"].append(traffic_obj.trajectory.timestamps_us.tolist())
+            
+            # Convert QVec to [x, y, z, qx, qy, qz, qw] format
+            poses_list = []
+            for pose in traffic_obj.trajectory.poses:
+                pose_array = np.concatenate([pose.vec3, pose.quat])
+                poses_list.append(pose_array.tolist())
+            tracks_data["tracks_poses"].append(poses_list)
+            
+            cuboids_dims.append([traffic_obj.aabb.x, traffic_obj.aabb.y, traffic_obj.aabb.z])
+
+        sequence_tracks_data = {
+            sequence_id: {
+                "tracks_data": tracks_data,
+                "cuboidtracks_data": {
+                    "cuboids_dims": cuboids_dims,
+                },
+            }
+        }
+
+        zip_file.writestr("sequence_tracks.json", json.dumps(sequence_tracks_data, indent=2))
+
+        # 4. Write map if present
+        if include_map:
+            _write_map_to_usdz(zip_file, scene, dataset, logger)
+
+    logger.info(f"Created USDZ file: {output_path}")
+    
+
+if __name__ == "__main__":
+    
+    # artifact_2 = Artifact(source='data/nre-artifacts/all-usdzs/sample_set/25.07_release/Batch0001/05bb8212-63e1-40a8-b4fc-3142c0e94646/05bb8212-63e1-40a8-b4fc-3142c0e94646.usdz')
+    
+    dataset = UnifiedDataset(
+        desired_data=["nuplan_train"],
+        cache_location="/inspire/hdd/project/roboticsystem2/wangcaojun-240208020180/repo-wcj/trajdata/datasets",
+        incl_vector_map=True,
+        rebuild_cache=False,
+        rebuild_maps=False,
+        require_map_cache=False,
+        num_workers=1,
+        desired_dt=0.5,
+        verbose=True,
+        data_dirs={  # Remember to change this to match your filesystem!
+            "nuplan_train": "/inspire/hdd/project/roboticsystem2/public/nuplan/dataset/nuplan-v1.1",
+        },
+    )
+    
+    # artifact = convert_unified_dataset_to_artifact(
+    #     dataset=dataset,
+    #     scene_idx=0,
+    #     output_path="output/nuplan_train_1aa44d46e4ab5bc7.usdz",
+    #     scene_id="nuplan_train_1aa44d46e4ab5bc7",
+    # )
+    
+    artifact = Artifact(source='output/nuplan_train_1aa44d46e4ab5bc7.usdz')
+    artifact_2 = Artifact(source='data/nre-artifacts/all-usdzs/sample_set/25.07_release/Batch0001/05bb8212-63e1-40a8-b4fc-3142c0e94646/05bb8212-63e1-40a8-b4fc-3142c0e94646.usdz')
+    
+    print("✓ Successfully loaded reference artifact")
+    
+    # Compare the two artifacts
+    if artifact is None:
+        print("\n" + "=" * 80)
+        print("⚠ Unable to compare: converted artifact does not exist")
+        print("=" * 80)
+        print("\nShowing information for the reference artifact only:")
+        print(f"  Scene ID: {artifact_2.scene_id}")
+        print(f"  Rig trajectory length: {len(artifact_2.rig.trajectory)}")
+        print(f"  Traffic objects: {len(artifact_2.traffic_objects)}")
+        print(f"  World to NRE matrix:\n{artifact_2.rig.world_to_nre}")
+        print(f"  First pose position: {artifact_2.rig.trajectory.poses[0].vec3}")
+        exit(0)
+    
+    print("=" * 80)
+    print("Artifact comparison analysis")
+    print("=" * 80)
+    
+    print("\n[Basic information]")
+    print("Artifact 1 (converted):")
+    print(f"  Scene ID: {artifact.scene_id}")
+    print(f"  Rig trajectory length: {len(artifact.rig.trajectory)}")
+    print(f"  Traffic objects: {len(artifact.traffic_objects)}")
+    
+    print("\nArtifact 2 (reference case):")
+    print(f"  Scene ID: {artifact_2.scene_id}")
+    print(f"  Rig trajectory length: {len(artifact_2.rig.trajectory)}")
+    print(f"  Traffic objects: {len(artifact_2.traffic_objects)}")
+    
+    print("\n[Rig trajectory analysis]")
+    print("\nArtifact 1 Rig:")
+    rig1 = artifact.rig
+    print(f"  Sequence ID: {rig1.sequence_id}")
+    print(f"  World to NRE matrix shape: {rig1.world_to_nre.shape}")
+    print(f"  World to NRE matrix:\n{rig1.world_to_nre}")
+    print(f"  Trajectory timestamps range: {rig1.trajectory.timestamps_us[0]} - {rig1.trajectory.timestamps_us[-1]}")
+    print(f"  First pose position (vec3): {rig1.trajectory.poses[0].vec3}")
+    print(f"  First pose quaternion: {rig1.trajectory.poses[0].quat}")
+    print(f"  Last pose position (vec3): {rig1.trajectory.poses[-1].vec3}")
+    print(f"  Last pose quaternion: {rig1.trajectory.poses[-1].quat}")
+    
+    print("\nArtifact 2 Rig:")
+    rig2 = artifact_2.rig
+    print(f"  Sequence ID: {rig2.sequence_id}")
+    print(f"  World to NRE matrix shape: {rig2.world_to_nre.shape}")
+    print(f"  World to NRE matrix:\n{rig2.world_to_nre}")
+    print(f"  Trajectory timestamps range: {rig2.trajectory.timestamps_us[0]} - {rig2.trajectory.timestamps_us[-1]}")
+    print(f"  First pose position (vec3): {rig2.trajectory.poses[0].vec3}")
+    print(f"  First pose quaternion: {rig2.trajectory.poses[0].quat}")
+    print(f"  Last pose position (vec3): {rig2.trajectory.poses[-1].vec3}")
+    print(f"  Last pose quaternion: {rig2.trajectory.poses[-1].quat}")
+    
+    print("\n[Coordinate frame differences]")
+    print("\nArtifact 1:")
+    print(f"  World to NRE is identity: {np.allclose(rig1.world_to_nre, np.eye(4))}")
+    print("  Trajectory position ranges:")
+    positions1 = rig1.trajectory.poses.vec3
+    print(f"    X: [{positions1[:, 0].min():.2f}, {positions1[:, 0].max():.2f}]")
+    print(f"    Y: [{positions1[:, 1].min():.2f}, {positions1[:, 1].max():.2f}]")
+    print(f"    Z: [{positions1[:, 2].min():.2f}, {positions1[:, 2].max():.2f}]")
+    
+    print("\nArtifact 2:")
+    print(f"  World to NRE is identity: {np.allclose(rig2.world_to_nre, np.eye(4))}")
+    print("  Trajectory position ranges:")
+    positions2 = rig2.trajectory.poses.vec3
+    print(f"    X: [{positions2[:, 0].min():.2f}, {positions2[:, 0].max():.2f}]")
+    print(f"    Y: [{positions2[:, 1].min():.2f}, {positions2[:, 1].max():.2f}]")
+    print(f"    Z: [{positions2[:, 2].min():.2f}, {positions2[:, 2].max():.2f}]")
+    
+    print("\n[Traffic object trajectory analysis]")
+    if len(artifact.traffic_objects) > 0:
+        sample_obj1 = list(artifact.traffic_objects.values())[0]
+        print("\nArtifact 1 first traffic object:")
+        print(f"  Track ID: {sample_obj1.track_id}")
+        print(f"  Trajectory length: {len(sample_obj1.trajectory)}")
+        print(f"  First pose position: {sample_obj1.trajectory.poses[0].vec3}")
+        print(f"  Last pose position: {sample_obj1.trajectory.poses[-1].vec3}")
+    
+    if len(artifact_2.traffic_objects) > 0:
+        sample_obj2 = list(artifact_2.traffic_objects.values())[0]
+        print("\nArtifact 2 first traffic object:")
+        print(f"  Track ID: {sample_obj2.track_id}")
+        print(f"  Trajectory length: {len(sample_obj2.trajectory)}")
+        print(f"  First pose position: {sample_obj2.trajectory.poses[0].vec3}")
+        print(f"  Last pose position: {sample_obj2.trajectory.poses[-1].vec3}")
+    
+    print("\n" + "=" * 80)
\ No newline at end of file
diff --git a/src/utils/alpasim_utils/trajdata_data_source.py b/src/utils/alpasim_utils/trajdata_data_source.py
new file mode 100644
index 00000000..e6962a6b
--- /dev/null
+++ b/src/utils/alpasim_utils/trajdata_data_source.py
@@ -0,0 +1,1129 @@
+# SPDX-License-Identifier: Apache-2.0
+# Copyright (c) 2025 NVIDIA Corporation
+
+"""
+TrajdataDataSource: Implementation for loading scene data directly from trajdata
+
+This class demonstrates how to create a SceneDataSource implementation that loads
+data directly from trajdata converted data without requiring USDZ format. This is
+useful for researchers using trajdata datasets.
+
+Usage example:
+    from trajdata import UnifiedDataset
+    from alpasim_utils.trajdata_data_source import TrajdataDataSource
+    
+    # Load trajdata dataset
+    dataset = UnifiedDataset(
+        desired_data=["nusc_mini"],
+        data_dirs={"/path/to/trajdata/data"},
+        ...
+    )
+    
+    # Get a scene
+    scene = dataset.get_scene("nusc_mini", "scene-0001")
+    
+    # Create data source
+    data_source = TrajdataDataSource.from_trajdata_scene(scene)
+    
+    # Now can be used in Runtime
+    # artifacts = {data_source.scene_id: data_source}
+"""
+
+from __future__ import annotations
+
+import copy
+import logging
+import os
+import threading
+import time
+from dataclasses import dataclass
+from typing import Optional
+
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+logger = logging.getLogger(__name__)
+
+try:
+    from trajdata.caching import EnvCache
+    from trajdata.data_structures.agent import AgentMetadata
+    from trajdata.data_structures.scene_metadata import Scene
+    from trajdata.dataset import UnifiedDataset
+    from trajdata.maps import VectorMap
+    
+    # Try to import AgentBatch (may not exist in all versions)
+    try:
+        from trajdata import AgentBatch
+    except ImportError:
+        AgentBatch = None
+except ImportError as e:
+    AgentBatch = None
+    Scene = None
+    UnifiedDataset = None
+    EnvCache = None
+    AgentMetadata = None
+    VectorMap = None
+    # Only log warning at debug level to avoid noise if trajdata is intentionally not installed
+    logger.debug(f"trajdata not available: {e}. TrajdataDataSource will not work.")
+
+from alpasim_utils.artifact import Metadata
+from alpasim_utils.qvec import QVec
+from alpasim_utils.scenario import AABB, CameraId, Rig, TrafficObject, TrafficObjects, VehicleConfig
+from alpasim_utils.scene_data_source import SceneDataSource
+from alpasim_utils.trajectory import Trajectory
+
+
+
+
+@dataclass
+class TrajdataDataSource(SceneDataSource):
+    """
+    Implementation for loading scene data directly from trajdata.
+    
+    This class implements the SceneDataSource protocol, allowing direct loading
+    from trajdata Scene or AgentBatch objects without requiring USDZ format.
+    """
+
+    _scene: Scene | None = None
+    _scene_cache: EnvCache | None = None
+    _dataset: UnifiedDataset | None = None
+    _rig: Rig | None = None
+    _traffic_objects: TrafficObjects | None = None
+    _map: VectorMap | None = None
+    _metadata: Metadata | None = None
+    _smooth_trajectories: bool = True
+    _scene_id: str = ""
+
+    @classmethod
+    def from_trajdata_scene(
+        cls,
+        scene: Scene,
+        dataset: Optional[UnifiedDataset] = None,
+        scene_cache: Optional[EnvCache] = None,
+        scene_id: Optional[str] = None,
+        smooth_trajectories: bool = True,
+        base_timestamp_us: int = 0,
+    ) -> TrajdataDataSource:
+        """
+        Create TrajdataDataSource from trajdata Scene object.
+        
+        Args:
+            scene: trajdata Scene object
+            dataset: UnifiedDataset instance (for getting scene_cache and map)
+            scene_cache: Optional EnvCache instance (if not provided, will be created from dataset)
+            scene_id: Optional scene ID (if not provided, uses scene.name)
+            smooth_trajectories: Whether to smooth trajectories
+            base_timestamp_us: Base timestamp in microseconds, starts from 0 if None
+        
+        Returns:
+            TrajdataDataSource instance
+        """
+        if Scene is None:
+            raise ImportError("trajdata is not installed. Please install it to use TrajdataDataSource.")
+
+        data_source = cls(
+            _scene=scene,
+            _dataset=dataset,
+            _scene_cache=scene_cache,
+            _scene_id=scene_id or scene.name,
+            _smooth_trajectories=smooth_trajectories,
+        )
+        data_source._base_timestamp_us = base_timestamp_us
+        return data_source
+
+    @classmethod
+    def from_agent_batch(
+        cls,
+        batch: AgentBatch,
+        scene_id: str,
+        smooth_trajectories: bool = True,
+    ) -> TrajdataDataSource:
+        """
+        Create TrajdataDataSource from trajdata AgentBatch object.
+        
+        Note: This method requires the batch to contain complete scene information.
+        It is generally recommended to use from_trajdata_scene instead.
+        
+        Args:
+            batch: trajdata AgentBatch object
+            scene_id: Scene ID
+            smooth_trajectories: Whether to smooth trajectories
+        
+        Returns:
+            TrajdataDataSource instance
+        """
+        if AgentBatch is None:
+            raise ImportError("trajdata is not installed. Please install it to use TrajdataDataSource.")
+
+        data_source = cls(scene_id=scene_id)
+        data_source._smooth_trajectories = smooth_trajectories
+        # Extract data from batch
+        data_source._load_from_batch(batch)
+        return data_source
+
+    def _load_from_batch(self, batch: AgentBatch) -> None:
+        """Load data from AgentBatch (internal method)"""
+        # Need to extract data based on batch structure
+        # Specific implementation depends on your trajdata data format
+        raise NotImplementedError(
+            "from_agent_batch needs to be implemented based on your trajdata data format. "
+            "It is recommended to use from_trajdata_scene method instead."
+        )
+
+    @property
+    def scene_id(self) -> str:
+        """Scene ID"""
+        if self._scene_id:
+            return self._scene_id
+        if self._scene is not None:
+            return self._scene.name
+        raise ValueError("scene_id is not set and cannot be obtained from scene")
+
+    @scene_id.setter
+    def scene_id(self, value: str) -> None:
+        self._scene_id = value
+    
+    def _get_scene_cache(self) -> EnvCache:
+        """Get or create scene_cache"""
+        if self._scene_cache is not None:
+            return self._scene_cache
+        
+        if self._scene is None:
+            raise ValueError("Cannot create scene_cache: scene is not set")
+        
+        if self._dataset is None:
+            raise ValueError("Cannot create scene_cache: dataset is not set")
+        
+        # Create SceneCache
+        self._scene_cache = self._dataset.cache_class(
+            self._dataset.cache_path, self._scene, self._dataset.augmentations
+        )
+        self._scene_cache.set_obs_format(self._dataset.obs_format)
+        return self._scene_cache
+
+    def _extract_agent_trajectory(
+        self,
+        agent: AgentMetadata,
+    ) -> tuple[Optional[Trajectory], Optional[VehicleConfig]]:
+        """Extract complete trajectory for agent (refer to trajdata_artifact_converter.py implementation)"""
+        if self._scene is None:
+            return None, None
+        
+        scene_cache = self._get_scene_cache()
+        dt = self._scene.dt
+        base_timestamp_us = getattr(self, "_base_timestamp_us", None)
+        
+        try:
+            timestamps_us = []
+            poses_vec3 = []
+            poses_quat = []
+
+            # Iterate through all timesteps
+            for ts in range(agent.first_timestep, agent.last_timestep + 1):
+                try:
+                    state = scene_cache.get_raw_state(agent.name, ts)
+                    
+                    # Get position and orientation
+                    x = state.get_attr("x") if hasattr(state, 'get_attr') else state.x
+                    y = state.get_attr("y") if hasattr(state, 'get_attr') else state.y
+                    z = state.get_attr("z") if hasattr(state, 'get_attr') else (state.z if hasattr(state, 'z') else 0.0)
+                    heading = state.get_attr("h") if hasattr(state, 'get_attr') else state.h
+
+                    # Convert to numpy array (handle scalar case)
+                    if isinstance(x, (int, float)):
+                        x = np.array([x])
+                    if isinstance(y, (int, float)):
+                        y = np.array([y])
+                    if isinstance(z, (int, float)):
+                        z = np.array([z])
+                    if isinstance(heading, (int, float)):
+                        heading = np.array([heading])
+
+                    # Take first element (if array)
+                    x_val = float(x[0] if x.ndim > 0 else x)
+                    y_val = float(y[0] if y.ndim > 0 else y)
+                    z_val = float(z[0] if z.ndim > 0 else z)
+                    heading_val = float(heading[0] if heading.ndim > 0 else heading)
+
+                    # Calculate timestamp
+                    if base_timestamp_us is None:
+                        timestamp_us = int(ts * dt * 1e6)
+                    else:
+                        timestamp_us = int(base_timestamp_us + ts * dt * 1e6)
+
+                    timestamps_us.append(timestamp_us)
+                    poses_vec3.append([x_val, y_val, z_val])
+
+                    # Convert heading to quaternion
+                    quat = R.from_euler('z', heading_val).as_quat()  # [x, y, z, w]
+                    poses_quat.append(quat)
+
+                except Exception as e:
+                    logger.debug(f"Failed to get state for agent {agent.name} at ts {ts}: {e}")
+                    continue
+
+            if len(timestamps_us) == 0:
+                return None, None
+
+            # Create QVec
+            poses = QVec(
+                vec3=np.array(poses_vec3, dtype=np.float64),
+                quat=np.array(poses_quat, dtype=np.float64),
+            )
+
+            # Create Trajectory
+            trajectory = Trajectory(
+                timestamps_us=np.array(timestamps_us, dtype=np.uint64),
+                poses=poses,
+            )
+
+            # Create VehicleConfig (extract from extent)
+            vehicle_config = None
+            if hasattr(agent.extent, 'length'):
+                vehicle_config = VehicleConfig(
+                    aabb_x_m=agent.extent.length,
+                    aabb_y_m=agent.extent.width,
+                    aabb_z_m=agent.extent.height,
+                    aabb_x_offset_m=-agent.extent.length / 2,
+                    aabb_y_offset_m=0.0,
+                    aabb_z_offset_m=-agent.extent.height / 2,
+                )
+
+            return trajectory, vehicle_config
+
+        except Exception as e:
+            logger.error(f"Failed to extract trajectory for agent {agent.name}: {e}")
+            return None, None
+
+    @property
+    def rig(self) -> Rig:
+        """Load and return Rig object for ego vehicle"""
+        if self._rig is not None:
+            return self._rig
+
+        if self._scene is None:
+            raise ValueError("Cannot load rig: scene is not set")
+
+        # Get all agents
+        all_agents = self._scene.agents if self._scene.agents else []
+        
+        # Identify ego agent
+        ego_agent = next((a for a in all_agents if a.name == "ego"), None)
+        if ego_agent is None and len(all_agents) > 0:
+            # If no ego, use first agent
+            ego_agent = all_agents[0]
+            logger.warning(f"No ego agent found, using first agent: {ego_agent.name}")
+
+        if ego_agent is None:
+            raise ValueError("No ego agent found in scene")
+
+        # Extract ego trajectory
+        ego_trajectory, ego_vehicle_config = self._extract_agent_trajectory(ego_agent)
+        
+        if ego_trajectory is None:
+            raise ValueError("Cannot extract ego trajectory")
+
+        # Calculate world_to_nre transformation matrix (use first trajectory point as origin)
+        world_to_nre = np.eye(4)
+        if len(ego_trajectory) > 0:
+            first_pose_position = ego_trajectory.poses[0].vec3
+            world_to_nre[:3, 3] = -first_pose_position
+            logger.info(
+                f"Setting world_to_nre origin at first pose: {first_pose_position}, "
+                f"translation: {world_to_nre[:3, 3]}"
+            )
+
+        # Convert ego trajectory to local coordinates (NRE)
+        if len(ego_trajectory) > 0:
+            translation = world_to_nre[:3, 3]
+            local_positions = ego_trajectory.poses.vec3 + translation
+            
+            # Validate transform
+            first_pose_local = local_positions[0]
+            if np.linalg.norm(first_pose_local[:2]) > 1.0: 
+                logger.warning(
+                    f"First pose after transformation is not at origin: {first_pose_local}. "
+                    f"Expected [0, 0, ~z], got {first_pose_local}"
+                )
+            
+            local_quat = ego_trajectory.poses.quat.copy()
+            local_poses = QVec(vec3=local_positions, quat=local_quat)
+            ego_trajectory = Trajectory(
+                timestamps_us=ego_trajectory.timestamps_us.copy(),
+                poses=local_poses,
+            )
+            
+            logger.info(
+                f"Transformed ego trajectory to local coordinates. "
+                f"First pose: {ego_trajectory.poses[0].vec3}, "
+                f"Range: X[{local_positions[:, 0].min():.2f}, {local_positions[:, 0].max():.2f}], "
+                f"Y[{local_positions[:, 1].min():.2f}, {local_positions[:, 1].max():.2f}], "
+                f"Z[{local_positions[:, 2].min():.2f}, {local_positions[:, 2].max():.2f}]"
+                )
+
+        # Extract camera information (refer to trajdata_artifact_converter.py)
+        camera_ids, _ = self._extract_camera_info_from_scene()
+
+        self._rig = Rig(
+            sequence_id=self.scene_id,
+            trajectory=ego_trajectory,
+            camera_ids=camera_ids,
+            world_to_nre=world_to_nre,
+            vehicle_config=ego_vehicle_config,
+        )
+
+        return self._rig
+    
+    def _extract_camera_info_from_scene(self) -> tuple[list[CameraId], dict]:
+        """Extract camera information from scene (refer to trajdata_artifact_converter.py)"""
+        camera_ids = []
+        camera_calibrations = {}
+        
+        if self._scene is None:
+            return camera_ids, camera_calibrations
+        
+        # Check if sensor_calibration information exists
+        if not hasattr(self._scene, 'data_access_info') or not self._scene.data_access_info:
+            logger.warning(f"scene.data_access_info does not exist, skipping camera information extraction")
+            return camera_ids, camera_calibrations
+        
+        sensor_calibration = self._scene.data_access_info.get('sensor_calibration')
+        if not sensor_calibration or not isinstance(sensor_calibration, dict):
+            logger.warning(f"sensor_calibration does not exist or has incorrect format, skipping camera information extraction")
+            return camera_ids, camera_calibrations
+        
+        unique_sensor_idx = 0
+        for camera_name, calibration_info in sensor_calibration.get('cameras', {}).items():
+            try:
+                unique_camera_id = f"{camera_name}@{self.scene_id}"
+                
+                position = calibration_info.get('sensor2ego_translation', [0.0, 0.0, 0.0])
+                rotation = calibration_info.get('sensor2ego_rotation', [0.0, 0.0, 0.0, 1.0])
+                
+                if isinstance(position, (int, float)):
+                    position = [float(position), 0.0, 0.0]
+                elif len(position) < 3:
+                    position = list(position) + [0.0] * (3 - len(position))
+                
+                if isinstance(rotation, (int, float)):
+                    rotation = [0.0, 0.0, 0.0, 1.0]
+                elif len(rotation) < 4:
+                    if len(rotation) == 3:
+                        r = R.from_euler('xyz', rotation)
+                        rotation = r.as_quat()
+                    else:
+                        rotation = [0.0, 0.0, 0.0, 1.0]
+                
+                if len(rotation) == 4:
+                    qx, qy, qz, qw = rotation[0], rotation[1], rotation[2], rotation[3]
+                else:
+                    qx, qy, qz, qw = 0.0, 0.0, 0.0, 1.0
+                
+                camera_id = CameraId(
+                    logical_name=camera_name,
+                    trajectory_idx=0,
+                    sequence_id=self.scene_id,
+                    unique_id=unique_camera_id,
+                )
+                camera_ids.append(camera_id)
+                unique_sensor_idx += 1
+                
+            except Exception as e:
+                logger.warning(f"Error extracting camera {camera_name} information: {e}")
+                continue
+        
+        if len(camera_ids) == 0:
+            # If no camera information, create a default one
+            logger.warning(f"Scene {self.scene_id} has no camera information, using default camera")
+            camera_ids.append(
+                CameraId(
+                    logical_name="camera_front",
+                    trajectory_idx=0,
+                    sequence_id=self.scene_id,
+                    unique_id="0@camera_front",
+                )
+            )
+        
+        return camera_ids, camera_calibrations
+
+    def _is_static_object(self, trajectory: Trajectory, velocity_threshold: float = 0.1) -> bool:
+        """Determine if object is static (based on velocity)"""
+        if len(trajectory) < 2:
+            return True
+
+        positions = trajectory.poses.vec3
+        timestamps = trajectory.timestamps_us.astype(np.float64) / 1e6
+
+        velocities = []
+        for i in range(1, len(positions)):
+            dt_sec = timestamps[i] - timestamps[i - 1]
+            if dt_sec > 0:
+                displacement = np.linalg.norm(positions[i] - positions[i - 1])
+                velocity = displacement / dt_sec
+                velocities.append(velocity)
+
+        if len(velocities) == 0:
+            return True
+
+        avg_velocity = np.mean(velocities)
+        return avg_velocity < velocity_threshold
+
+    @property
+    def traffic_objects(self) -> TrafficObjects:
+        """Load and return traffic objects"""
+        if self._traffic_objects is not None:
+            return self._traffic_objects
+
+        if self._scene is None:
+            raise ValueError("Cannot load traffic_objects: scene is not set")
+
+        # Get all agents
+        all_agents = self._scene.agents if self._scene.agents else []
+        
+        # Identify ego agent
+        ego_agent = next((a for a in all_agents if a.name == "ego"), None)
+        if ego_agent is None and len(all_agents) > 0:
+            ego_agent = all_agents[0]
+
+        traffic_dict = {}
+        for agent in all_agents:
+            # Skip ego agent
+            if agent.name == "ego" or agent == ego_agent:
+                continue
+
+            # Extract trajectory
+            trajectory, _ = self._extract_agent_trajectory(agent)
+            
+            # Filter out empty trajectories or trajectories with only 1 data point
+            if trajectory is None or len(trajectory) < 2:
+                continue
+
+            # Convert trajectory to local coordinates (NRE) - use rig's world_to_nre
+            if self._rig is None:
+                # If rig is not loaded yet, load it first
+                _ = self.rig
+            
+            world_to_nre = self._rig.world_to_nre
+            translation = world_to_nre[:3, 3]
+            local_positions = trajectory.poses.vec3 + translation
+            local_quat = trajectory.poses.quat.copy()
+            local_poses = QVec(vec3=local_positions, quat=local_quat)
+            trajectory = Trajectory(
+                timestamps_us=trajectory.timestamps_us.copy(),
+                poses=local_poses,
+            )
+
+            # Smooth if needed
+            if self._smooth_trajectories:
+                try:
+                    import csaps
+
+                    css = csaps.CubicSmoothingSpline(
+                        trajectory.timestamps_us / 1e6,
+                        trajectory.poses.vec3.T,
+                        normalizedsmooth=True,
+                    )
+                    filtered_positions = css(trajectory.timestamps_us / 1e6).T
+                    max_error = np.max(np.abs(filtered_positions - trajectory.poses.vec3))
+                    if max_error > 1.0:
+                        logger.warning(
+                            f"Max error in cubic spline approximation: {max_error:.6f} m for {agent.name=}"
+                        )
+                    trajectory.poses.vec3 = filtered_positions
+                except ImportError:
+                    logger.warning("csaps not installed, skipping trajectory smoothing")
+
+            # Get AABB
+            if hasattr(agent.extent, 'length'):
+                aabb = AABB(x=agent.extent.length, y=agent.extent.width, z=agent.extent.height)
+            else:
+                # Default AABB
+                aabb = AABB(x=4.5, y=1.8, z=1.5)
+
+            # Determine if static object
+            is_static = self._is_static_object(trajectory)
+
+            # Get category label
+            label_class = agent.type.name if hasattr(agent.type, 'name') else "UNKNOWN"
+
+            traffic_dict[agent.name] = TrafficObject(
+                track_id=agent.name,
+                aabb=aabb,
+                trajectory=trajectory,
+                is_static=is_static,
+                label_class=label_class,
+            )
+
+        self._traffic_objects = TrafficObjects(**traffic_dict)
+        return self._traffic_objects
+
+    @property
+    def map(self) -> Optional[VectorMap]:
+        """Load and return VectorMap (obtained from dataset._map_api)"""
+        if self._map is not None:
+            return self._map
+
+        if VectorMap is None:
+            logger.warning("trajdata is not installed, cannot load map")
+            return None
+
+        if self._scene is None:
+            logger.warning("Cannot load map: scene is not set")
+            return None
+
+        if self._dataset is None:
+            logger.warning("Cannot load map: dataset is not set")
+            return None
+
+        # Get map from dataset._map_api (refer to trajdata_artifact_converter.py)
+        try:
+            # Check if dataset includes map support
+            if (
+                not hasattr(self._dataset, 'incl_vector_map')
+                or not self._dataset.incl_vector_map
+                or not hasattr(self._dataset, '_map_api')
+                or self._dataset._map_api is None
+            ):
+                logger.debug(f"Dataset does not have map support enabled or map_api is unavailable")
+                return None
+
+            # Build map name: "{env_name}:{location}"
+            if not hasattr(self._scene, 'location') or not self._scene.location:
+                logger.debug(f"Scene {self.scene_id} has no location information, cannot load map")
+                return None
+
+            map_name = f"{self._scene.env_name}:{self._scene.location}"
+            
+            # Get vector_map_params (if exists)
+            vector_map_params = {}
+            if hasattr(self._dataset, 'vector_map_params'):
+                vector_map_params = self._dataset.vector_map_params
+
+            # Get map from map_api
+            vec_map = self._dataset._map_api.get_map(map_name, **vector_map_params)
+            
+            if vec_map is None:
+                logger.debug(f"Scene {self.scene_id} (map_name: {map_name}) has no map data")
+                return None
+            
+            # Create an independent copy of VectorMap for current scene to avoid modifying
+            # map objects in shared cache. This allows continued use of MapAPI's disk cache
+            # and index loading capabilities while preventing coordinate system pollution
+            # between multiple scenes through shared VectorMap instances.
+            self._map = copy.deepcopy(vec_map)
+
+            # Important: Transform map to local coordinate system (NRE)
+            # Since trajectories are already converted to local coordinates, map also needs
+            # to be converted to match. This is consistent with USDZ format handling:
+            # both map and trajectories need to be converted to the same coordinate system
+            if self._rig is None:
+                # If rig is not loaded yet, load it first (this will set world_to_nre)
+                _ = self.rig
+            
+            world_to_nre = self._rig.world_to_nre
+            
+            # Check if world_to_nre contains rotation
+            rotation_matrix = world_to_nre[:3, :3]
+            translation = world_to_nre[:3, 3]
+            has_rotation = not np.allclose(rotation_matrix, np.eye(3))
+            
+            if has_rotation:
+                logger.warning(
+                    f"world_to_nre contains rotation. Map transformation may need rotation handling. "
+                    f"Currently only applying translation."
+                )
+            
+            # Transform all points in map (center.points, left_boundary.points, right_boundary.points, etc.)
+            # Note: Must transform before finalize, as finalize may rebuild certain data structures
+            # Important: Only transform X, Y coordinates, align Z coordinate to trajectory Z baseline
+            # Because map Z usually represents height relative to ground (usually 0), while trajectory Z
+            # represents altitude. After transformation, map Z should align with trajectory Z
+            # (both relative to first trajectory point's Z, usually 0 after transformation)
+            translation_xy = translation[:2]  # Only use X, Y translation
+            
+            # Get Z coordinate of first trajectory point (transformed baseline, usually 0)
+            first_traj_z = self.rig.trajectory.poses[0].vec3[2] if len(self.rig.trajectory) > 0 else 0.0
+            
+            logger.info(
+                f"Map coordinate transformation: "
+                f"translation_xy={translation_xy}, "
+                f"first_traj_z={first_traj_z:.2f}m, "
+                f"map Z will be aligned to trajectory Z baseline"
+            )
+            
+            def transform_map_points(points: np.ndarray) -> np.ndarray:
+                """Transform map points: only transform X, Y, align Z to trajectory Z baseline"""
+                if points is None or len(points) == 0 or points.ndim != 2 or points.shape[1] < 3:
+                    return points
+                
+                points_copy = points.copy()
+                
+                # Transform X, Y coordinates
+                if has_rotation:
+                    # If rotation exists, need to rotate X, Y
+                    xy_rotated = (points_copy[:, :2] @ rotation_matrix[:2, :2].T) + translation_xy
+                    points_copy[:, 0] = xy_rotated[:, 0]
+                    points_copy[:, 1] = xy_rotated[:, 1]
+                else:
+                    # Only translate X, Y
+                    points_copy[:, 0] = points_copy[:, 0] + translation_xy[0]
+                    points_copy[:, 1] = points_copy[:, 1] + translation_xy[1]
+                
+                # Z coordinate alignment: align map Z to trajectory Z baseline
+                # Map Z is usually height relative to ground (usually 0),
+                # after transformation should align with trajectory Z (both relative to first
+                # trajectory point's Z, usually 0 after transformation)
+                # So: new_z = original_z + first_traj_z
+                # If map Z=0 (ground), after transformation it becomes first_traj_z (usually 0)
+                points_copy[:, 2] = points_copy[:, 2] + first_traj_z
+                
+                return points_copy
+            
+            if hasattr(self._map, "lanes"):
+                for lane_idx, lane in enumerate(self._map.lanes):
+                    # Transform center.points
+                    if hasattr(lane, "center") and hasattr(lane.center, "points"):
+                        points = lane.center.points
+                        if points is not None and len(points) > 0:
+                            try:
+                                transformed_points = transform_map_points(points)
+                                lane.center.points = transformed_points
+                            except Exception as e:
+                                logger.warning(f"Failed to transform lane {lane_idx} center.points: {e}")
+                    
+                    # Transform left_boundary.points
+                    if hasattr(lane, "left_boundary") and hasattr(lane.left_boundary, "points"):
+                        points = lane.left_boundary.points
+                        if points is not None and len(points) > 0:
+                            try:
+                                transformed_points = transform_map_points(points)
+                                lane.left_boundary.points = transformed_points
+                            except Exception as e:
+                                logger.warning(f"Failed to transform lane {lane_idx} left_boundary.points: {e}")
+                    
+                    # Transform right_boundary.points
+                    if hasattr(lane, "right_boundary") and hasattr(lane.right_boundary, "points"):
+                        points = lane.right_boundary.points
+                        if points is not None and len(points) > 0:
+                            try:
+                                transformed_points = transform_map_points(points)
+                                lane.right_boundary.points = transformed_points
+                            except Exception as e:
+                                logger.warning(f"Failed to transform lane {lane_idx} right_boundary.points: {e}")
+                    
+                    # Transform other possible point attributes (if any)
+                    for attr_name in ['intersections', 'crosswalks', 'stop_lines']:
+                        if hasattr(lane, attr_name):
+                            attr_value = getattr(lane, attr_name)
+                            if isinstance(attr_value, list):
+                                for item in attr_value:
+                                    if hasattr(item, 'points'):
+                                        points = item.points
+                                        if points is not None and len(points) > 0:
+                                            try:
+                                                transformed_points = transform_map_points(points)
+                                                item.points = transformed_points
+                                            except Exception as e:
+                                                logger.debug(f"Failed to transform {attr_name} points: {e}")
+            
+            # If map needs finalize, call it (after transformation)
+            # Note: finalize may rebuild certain indices but won't change point coordinates
+            # But for safety, we verify transformation again after finalize
+            if hasattr(self._map, "__post_init__"):
+                self._map.__post_init__()
+            if hasattr(self._map, "compute_search_indices"):
+                self._map.compute_search_indices()
+            
+            # Verify again: check if first point's coordinates are still correct after finalize
+            if hasattr(self._map, "lanes") and len(self._map.lanes) > 0:
+                first_lane = self._map.lanes[0]
+                if hasattr(first_lane, "center") and hasattr(first_lane.center, "points"):
+                    first_map_point_after_finalize = first_lane.center.points[0, :3] if len(first_lane.center.points) > 0 else None
+                    if first_map_point_after_finalize is not None:
+                        # Check if Z coordinate aligns with trajectory (should both be first_traj_z, usually 0)
+                        actual_z = first_map_point_after_finalize[2]
+                        if abs(actual_z - first_traj_z) > 1.0:  # Allow 1 meter error
+                            logger.warning(
+                                f"Map Z coordinate may have been reset after finalize. "
+                                f"Expected Z≈{first_traj_z:.2f}m (aligned to trajectory Z baseline), "
+                                f"got Z={actual_z:.2f}m. "
+                                f"This may cause coordinate misalignment."
+                            )
+                        # If alignment is correct, no need to log (reduce noise)
+
+            # Fix data types (if needed)
+            if hasattr(self._map, "lanes"):
+                for lane in self._map.lanes:
+                    if hasattr(lane, "next_lanes") and isinstance(lane.next_lanes, list):
+                        lane.next_lanes = set(lane.next_lanes)
+                    if hasattr(lane, "prev_lanes") and isinstance(lane.prev_lanes, list):
+                        lane.prev_lanes = set(lane.prev_lanes)
+                    if hasattr(lane, "adj_lanes_right") and isinstance(
+                        lane.adj_lanes_right, list
+                    ):
+                        lane.adj_lanes_right = set(lane.adj_lanes_right)
+                    if hasattr(lane, "adj_lanes_left") and isinstance(
+                        lane.adj_lanes_left, list
+                    ):
+                        lane.adj_lanes_left = set(lane.adj_lanes_left)
+            
+            # Verify map transformation: check if first lane's first point is within reasonable range
+            if hasattr(self._map, "lanes") and len(self._map.lanes) > 0:
+                first_lane = self._map.lanes[0]
+                if hasattr(first_lane, "center") and hasattr(first_lane.center, "points"):
+                    first_map_point = first_lane.center.points[0, :3] if len(first_lane.center.points) > 0 else None
+                    if first_map_point is not None:
+                        # Map point should be near trajectory (within hundreds of meters)
+                        distance_from_origin_xy = np.linalg.norm(first_map_point[:2])  # Only check X, Y
+                        distance_from_origin_xyz = np.linalg.norm(first_map_point)  # Check X, Y, Z
+                        
+                        # Get first trajectory point for comparison
+                        first_traj_point = self.rig.trajectory.poses[0].vec3
+                        
+                        logger.info(
+                            f"Map transformation verification: "
+                            f"first lane center point: {first_map_point}, "
+                            f"first trajectory point: {first_traj_point}, "
+                            f"distance (X,Y): {distance_from_origin_xy:.2f}m, "
+                            f"distance (X,Y,Z): {distance_from_origin_xyz:.2f}m, "
+                            f"Z difference: {abs(first_map_point[2] - first_traj_point[2]):.2f}m"
+                        )
+                        
+                        # Warn if Z coordinate is too far from trajectory Z
+                        z_diff = abs(first_map_point[2] - first_traj_point[2])
+                        if z_diff > 10.0:  # Z coordinate difference exceeds 10 meters
+                            logger.warning(
+                                f"Map Z coordinate may not be correctly aligned with trajectory. "
+                                f"Map Z={first_map_point[2]:.2f}m, Trajectory Z={first_traj_point[2]:.2f}m, "
+                                f"difference={z_diff:.2f}m. This may cause route generation to fail."
+                            )
+
+            logger.info(f"Successfully loaded map: {map_name} (transformed to local coordinate system)")
+            return self._map
+        except Exception as e:
+            logger.error(f"Error loading map: {e}", exc_info=True)
+            return None
+
+    @property
+    def metadata(self) -> Metadata:
+        """Create and return Metadata object"""
+        if self._metadata is not None:
+            return self._metadata
+
+        # Extract metadata from scene
+        scene_id = self.scene_id
+        
+        # Ensure rig is loaded
+        rig = self.rig
+        
+        # Extract camera ID list from rig
+        camera_id_names = []
+        if rig and rig.camera_ids:
+            camera_id_names = [camera_id.logical_name for camera_id in rig.camera_ids]
+        
+        # Calculate time range
+        if self._scene is not None:
+            dt = self._scene.dt
+            length_timesteps = self._scene.length_timesteps
+            base_timestamp_us = getattr(self, "_base_timestamp_us", 0.0)
+            time_range_start = float(base_timestamp_us) / 1e6
+            time_range_end = float(base_timestamp_us + length_timesteps * dt * 1e6) / 1e6
+        else:
+            time_range_start = float(rig.trajectory.time_range_us.start) / 1e6
+            time_range_end = float(rig.trajectory.time_range_us.stop) / 1e6
+
+        # Create metadata
+        from datetime import datetime
+        import uuid
+        
+        self._metadata = Metadata(
+            scene_id=scene_id,
+            version_string="trajdata_direct",
+            training_date=datetime.now().strftime("%Y-%m-%d"),
+            dataset_hash=str(uuid.uuid4()),
+            uuid=str(uuid.uuid4()),
+            is_resumable=False,
+            sensors=Metadata.Sensors(
+                camera_ids=camera_id_names,
+                lidar_ids=[],
+            ),
+            logger=Metadata.Logger(),
+            time_range=Metadata.TimeRange(
+                start=time_range_start,
+                end=time_range_end,
+            ),
+        )
+
+        return self._metadata
+
+
+def discover_from_trajdata_dataset(
+    dataset: UnifiedDataset,
+    scene_indices: Optional[list[int]] = None,
+    smooth_trajectories: bool = True,
+    base_timestamp_us: int = 0,
+) -> dict[str, TrajdataDataSource]:
+    """
+    Create TrajdataDataSource dictionary from trajdata UnifiedDataset.
+    
+    Args:
+        dataset: UnifiedDataset instance
+        scene_indices: List of scene indices to load (if None, load all scenes)
+        smooth_trajectories: Whether to smooth trajectories
+        base_timestamp_us: Base timestamp in microseconds
+    
+    Returns:
+        dict[scene_id, TrajdataDataSource]
+    """
+    if UnifiedDataset is None:
+        raise ImportError("trajdata is not installed. Please install it to use this function.")
+    
+    data_sources = {}
+    
+    if scene_indices is None:
+        # Get indices for all scenes
+        # Use dataset._scene_index to get scene count (refer to trajdata_artifact_converter.py)
+        # len(dataset) may not equal scene count, so use _scene_index
+        if hasattr(dataset, '_scene_index'):
+            num_scenes = len(dataset._scene_index)
+            logger.info(f"Got {num_scenes} scenes from dataset._scene_index")
+        elif hasattr(dataset, '__len__'):
+            # Fallback: if _scene_index doesn't exist, try using __len__
+            try:
+                num_scenes = len(dataset)
+                logger.warning(
+                    "Using len(dataset) to get scene count, this may be inaccurate. "
+                    "Consider checking if dataset._scene_index is available."
+                )
+            except (TypeError, NotImplementedError):
+                logger.error("Cannot determine scene count: dataset has neither _scene_index nor supports __len__")
+                return data_sources
+        else:
+            logger.error("Cannot determine scene count: dataset has no _scene_index attribute and doesn't support __len__")
+            return data_sources
+        
+        if num_scenes == 0:
+            logger.warning("No scenes found in dataset, please check dataset configuration")
+            return data_sources
+        
+        scene_indices = list(range(num_scenes))
+        logger.info(f"Will load all {num_scenes} scenes (indices: 0 to {num_scenes-1})")
+    
+    for scene_idx in scene_indices:
+        try:
+            scene = dataset.get_scene(scene_idx)
+            scene_id = scene.name
+            
+            data_source = TrajdataDataSource.from_trajdata_scene(
+                scene=scene,
+                dataset=dataset,
+                scene_id=scene_id,
+                smooth_trajectories=smooth_trajectories,
+                base_timestamp_us=base_timestamp_us,
+            )
+            
+            data_sources[scene_id] = data_source
+            logger.info(f"Loaded scene: {scene_id} (scene index: {scene_idx})")
+            
+        except Exception as e:
+            logger.error(f"Failed to Load {scene_idx}: {e}")
+            continue
+    
+    return data_sources
+
+
+class LazyTrajdataArtifactLoader(dict[str, TrajdataDataSource]):
+    """
+    Lazy-loading wrapper for trajdata artifacts.
+    
+    Instead of loading all scenes at startup (which is slow), this class
+    loads scenes on-demand when they are first accessed. This significantly
+    speeds up worker startup in multi-worker mode.
+    """
+    
+    def __init__(
+        self,
+        dataset: UnifiedDataset | None = None,
+        dataset_config: dict | None = None,
+        trajdata_config_path: str | None = None,
+        scene_indices: Optional[list[int]] = None,
+        smooth_trajectories: bool = True,
+        base_timestamp_us: int = 0,
+    ):
+        """
+        Initialize lazy loader.
+        
+        Args:
+            dataset: UnifiedDataset instance (if provided, use it directly)
+            dataset_config: Config dict for creating UnifiedDataset (if dataset not provided)
+            trajdata_config_path: Path to trajdata config file (for error messages)
+            scene_indices: List of scene indices to load (if None, all scenes)
+            smooth_trajectories: Whether to smooth trajectories
+            base_timestamp_us: Base timestamp in microseconds
+        """
+        if dataset is None and dataset_config is None:
+            raise ValueError("Either dataset or dataset_config must be provided")
+        
+        self._dataset = dataset  # Will be created lazily if None
+        self._dataset_config = dataset_config
+        self._trajdata_config_path = trajdata_config_path
+        self._scene_indices = scene_indices
+        self._smooth_trajectories = smooth_trajectories
+        self._base_timestamp_us = base_timestamp_us
+        self._loaded_scenes: dict[str, TrajdataDataSource] = {}
+        self._scene_id_to_index: dict[str, int] = {}
+        self._lock = threading.Lock()
+        self._total_scene_count: int = 0
+        
+        # Store scene count if scene_indices is provided
+        if scene_indices is not None:
+            self._total_scene_count = len(scene_indices)
+        
+        # Don't create dataset or build mapping here - do it lazily on first access
+        # This avoids slow UnifiedDataset creation at worker startup
+        logger.info(
+            f"LazyTrajdataArtifactLoader initialized (UnifiedDataset and mapping will be created on-demand)"
+        )
+    
+    def _ensure_dataset_created(self) -> None:
+        """Create UnifiedDataset if not already created."""
+        if self._dataset is not None:
+            return  # Already created
+        
+        if self._dataset_config is None:
+            raise ValueError("Cannot create UnifiedDataset: no config provided")
+        
+        logger.info("Creating UnifiedDataset (first access, this may take a while)...")
+        import time
+        create_start = time.perf_counter()
+        self._dataset = UnifiedDataset(**self._dataset_config)
+        create_elapsed = time.perf_counter() - create_start
+        logger.info(f"UnifiedDataset created in {create_elapsed:.2f} seconds")
+        
+        # Determine scene_indices if not provided
+        if self._scene_indices is None:
+            if hasattr(self._dataset, '_scene_index'):
+                self._scene_indices = list(range(len(self._dataset._scene_index)))
+            else:
+                logger.warning("Cannot determine scene indices, lazy loading may not work correctly")
+                self._scene_indices = []
+        
+        # Update scene count for __len__()
+        self._total_scene_count = len(self._scene_indices) if self._scene_indices else 0
+    
+    def _build_mapping_if_needed(self) -> None:
+        """Build scene_id to index mapping on first access (lazy, only when needed)."""
+        if self._scene_id_to_index:
+            return  # Already built
+        
+        # Ensure dataset is created first
+        self._ensure_dataset_created()
+        
+        logger.debug("Building scene_id to index mapping lazily (will build on-demand)")
+        # Don't build mapping here - build it lazily when scenes are accessed
+        # This avoids loading all scenes at startup
+        # The mapping will be built incrementally as scenes are accessed via __getitem__
+        
+        # If we have scene_indices, we can pre-populate the mapping structure
+        # but we'll only get scene names when scenes are actually accessed
+        # For now, we'll build the mapping lazily in __getitem__
+    
+    def __getitem__(self, scene_id: str) -> TrajdataDataSource:
+        """Load scene on-demand when first accessed."""
+        with self._lock:
+            # Ensure dataset is created (lazy creation)
+            self._ensure_dataset_created()
+            
+            # Check if already loaded
+            if scene_id in self._loaded_scenes:
+                return self._loaded_scenes[scene_id]
+            
+            # If mapping has this scene, use it directly
+            if scene_id in self._scene_id_to_index:
+                scene_idx = self._scene_id_to_index[scene_id]
+                logger.debug(f"Lazy loading scene {scene_id} (index {scene_idx})")
+                scene = self._dataset.get_scene(scene_idx)
+                
+                data_source = TrajdataDataSource.from_trajdata_scene(
+                    scene=scene,
+                    dataset=self._dataset,
+                    scene_id=scene_id,
+                    smooth_trajectories=self._smooth_trajectories,
+                    base_timestamp_us=self._base_timestamp_us,
+                )
+                
+                self._loaded_scenes[scene_id] = data_source
+                return data_source
+            
+            # Mapping doesn't have this scene yet - search lazily through indices
+            # This is still lazy - we only search until we find the matching scene
+            logger.debug(f"Searching for scene {scene_id} in dataset (lazy search)...")
+            for scene_idx in self._scene_indices:
+                try:
+                    scene = self._dataset.get_scene(scene_idx)
+                    found_scene_id = scene.name
+                    # Add to mapping for future lookups
+                    self._scene_id_to_index[found_scene_id] = scene_idx
+                    
+                    # If this is the scene we're looking for, use it
+                    if found_scene_id == scene_id:
+                        data_source = TrajdataDataSource.from_trajdata_scene(
+                            scene=scene,
+                            dataset=self._dataset,
+                            scene_id=scene_id,
+                            smooth_trajectories=self._smooth_trajectories,
+                            base_timestamp_us=self._base_timestamp_us,
+                        )
+                        self._loaded_scenes[scene_id] = data_source
+                        return data_source
+                except Exception as e:
+                    logger.warning(f"Failed to get scene {scene_idx} while searching: {e}")
+                    continue
+            
+            raise KeyError(f"Scene {scene_id} not found in dataset")
+    
+    def __contains__(self, scene_id: str) -> bool:
+        """Check if scene_id exists (lazy - only checks already discovered scenes)."""
+        # Don't build full mapping - just check what we've discovered so far
+        # This avoids loading all scenes
+        with self._lock:
+            return scene_id in self._scene_id_to_index
+    
+    def __len__(self) -> int:
+        """Return number of available scenes."""
+        # #region agent log
+        import time
+        import os
+        import json
+        len_start = time.perf_counter()
+        try:
+            with open(DEBUG_LOG_PATH, "a") as f:
+                f.write(json.dumps({"sessionId": "debug-session", "runId": "run1", "hypothesisId": "E", "location": "trajdata_data_source.py:1119", "message": "__len__ called", "data": {"worker_id": os.environ.get("WORKER_ID", "unknown"), "pid": os.getpid(), "total_scene_count": self._total_scene_count, "has_dataset": self._dataset is not None, "has_mapping": bool(self._scene_id_to_index)}, "timestamp": int(time.time() * 1000)}) + "\n")
+                f.flush()
+        except Exception:
+            pass
+        # #endregion
+        # Return stored count if available, otherwise 0 (will be updated when dataset is created)
+        if self._total_scene_count > 0:
+            return self._total_scene_count
+        # If dataset is already created and mapping is built, use that
+        if self._scene_id_to_index:
+            return len(self._scene_id_to_index)
+        # Otherwise return 0 (will be determined when dataset is first accessed)
+        return 0
+    
+    def keys(self):
+        """Return scene IDs (lazy - only returns already discovered scenes)."""
+        # Don't build full mapping - just return what we've discovered so far
+        # This avoids loading all scenes
+        with self._lock:
+            return self._scene_id_to_index.keys()
+    
+    def values(self):
+        """Return loaded data sources (only returns already loaded scenes)."""
+        # Don't load all scenes - just return what's already loaded
+        return self._loaded_scenes.values()
+    
+    def items(self):
+        """Return (scene_id, data_source) pairs (only returns already loaded scenes)."""
+        # Don't load all scenes - just return what's already loaded
+        return self._loaded_scenes.items()
diff --git a/src/utils/alpasim_utils/trajectory.py b/src/utils/alpasim_utils/trajectory.py
index 9bc96e2b..d2aee297 100644
--- a/src/utils/alpasim_utils/trajectory.py
+++ b/src/utils/alpasim_utils/trajectory.py
@@ -206,6 +206,18 @@ def clip(self, start_us: int, end_us: int) -> Trajectory:
         start_us = max(start_us, self.time_range_us.start)
         last_timestamp_us = min(end_us, self.time_range_us.stop) - 1
 
+        # Check if start and end are the same (single timestamp case)
+        if start_us == last_timestamp_us:
+            # Single timestamp case: just interpolate to that one timestamp
+            single_pose = self.interpolate_pose(start_us)
+            return Trajectory(
+                timestamps_us=np.array([start_us], dtype=np.uint64),
+                poses=QVec(
+                    vec3=single_pose.vec3[np.newaxis, :],
+                    quat=single_pose.quat[np.newaxis, :],
+                ),
+            )
+
         # interpolate the start and end poses, retain the poses in between
         first_pose, last_pose = self.interpolate_to_timestamps(
             np.array([start_us, last_timestamp_us], dtype=np.uint64)
@@ -213,16 +225,12 @@ def clip(self, start_us: int, end_us: int) -> Trajectory:
         is_between_start_and_end = (self.timestamps_us > start_us) & (
             self.timestamps_us < last_timestamp_us
         )
-        if start_us == last_timestamp_us:
-            poses = [first_pose]
-            timestamps_us = [start_us]
-        else:
-            poses = [first_pose, *list(self.poses[is_between_start_and_end]), last_pose]
-            timestamps_us = [
-                start_us,
-                *self.timestamps_us[is_between_start_and_end],
-                last_timestamp_us,
-            ]
+        poses = [first_pose, *list(self.poses[is_between_start_and_end]), last_pose]
+        timestamps_us = [
+            start_us,
+            *self.timestamps_us[is_between_start_and_end],
+            last_timestamp_us,
+        ]
 
         return Trajectory(
             timestamps_us=np.array(timestamps_us, dtype=np.uint64),
diff --git a/src/wizard/configs/base_config.yaml b/src/wizard/configs/base_config.yaml
index 4563dd1e..89ea4537 100644
--- a/src/wizard/configs/base_config.yaml
+++ b/src/wizard/configs/base_config.yaml
@@ -262,9 +262,11 @@ runtime:
     sensorsim:
       # how many rollouts can run on a single worker at once
       n_concurrent_rollouts: 2
+      skip: false
 
     driver:
       n_concurrent_rollouts: 14
+      skip: false
 
     physics:
       n_concurrent_rollouts: 14
diff --git a/trajdata_config_example.yaml b/trajdata_config_example.yaml
new file mode 100644
index 00000000..cc2a00b0
--- /dev/null
+++ b/trajdata_config_example.yaml
@@ -0,0 +1,18 @@
+desired_data:
+  - nuplan_test
+
+cache_location: "/dir/to/trajdata/cache" # Trajdata cache location
+
+incl_vector_map: true
+rebuild_cache: false
+rebuild_maps: false
+require_map_cache: false
+num_workers: 1
+desired_dt: 0.5
+verbose: true
+
+data_dirs:
+  nuplan_test: "/dir/to/nuplan-v1.1" # nuplan-v1.1
+
+# scene_indices: [0]
+
diff --git a/user_config_parallel.yaml b/user_config_parallel.yaml
new file mode 100644
index 00000000..7c19db2e
--- /dev/null
+++ b/user_config_parallel.yaml
@@ -0,0 +1,290 @@
+enable_autoresume: false
+nr_workers: 1  
+
+endpoints:
+  controller:
+    n_concurrent_rollouts: 14
+    skip: true
+  do_shutdown: true
+  driver:
+    n_concurrent_rollouts: 14
+    skip: true
+  physics:
+    n_concurrent_rollouts: 14
+    skip: true
+  sensorsim:
+    n_concurrent_rollouts: 4
+    skip: false
+  sensorsim_cache_size: '4'
+  trafficsim:
+    n_concurrent_rollouts: 14
+    skip: true
+
+scenarios:
+  # - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088-e5d2a01ab5b0562a
+  #   assert_zero_decision_delay: false
+  #   group_render_requests: true 
+  #   cameras:
+  #     - logical_id: CAM_F0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_L0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080  
+  #       width: 1920
+  #     - logical_id: CAM_L1
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_L2
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R1
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R2
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_B0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #   egomotion_noise:
+  #     cov_orientation_x: 0.0
+  #     cov_orientation_y: 0.0
+  #     cov_orientation_z: 0.0007
+  #     cov_x: 0.05
+  #     cov_y: 0.05
+  #     cov_z: 0.0
+  #     enabled: false
+  #     time_constant_orientation: 5.0
+  #     time_constant_position: 3.0
+  #   egopose_interval_us: 500000
+  #   control_timestep_us: 500000 
+  #   force_gt_duration_us: 20000000
+  #   min_traffic_duration_us: 5000000
+  #   n_rollouts: 1
+  #   n_sim_steps: 10 # max steps 10
+  #   physics_update_mode: NONE
+  #   planner_delay_us: 0
+  #   route_generator_type: MAP
+  #   send_av_messages: false
+  #   send_recording_ground_truth: false
+  #   time_start_offset_us: 00000
+
+  # - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689-5d5cef2e5d6b5d6b
+  #   assert_zero_decision_delay: false
+  #   group_render_requests: true 
+  #   cameras:
+  #     - logical_id: CAM_F0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_L0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080  
+  #       width: 1920
+  #     - logical_id: CAM_L1
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_L2
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R1
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R2
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_B0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #   egomotion_noise:
+  #     cov_orientation_x: 0.0
+  #     cov_orientation_y: 0.0
+  #     cov_orientation_z: 0.0007
+  #     cov_x: 0.05
+  #     cov_y: 0.05
+  #     cov_z: 0.0
+  #     enabled: false
+  #     time_constant_orientation: 5.0
+  #     time_constant_position: 3.0
+  #   egopose_interval_us: 500000
+  #   control_timestep_us: 500000 
+  #   force_gt_duration_us: 20000000
+  #   min_traffic_duration_us: 5000000
+  #   n_rollouts: 1
+  #   n_sim_steps: 10 # max steps 10
+  #   physics_update_mode: NONE
+  #   planner_delay_us: 0
+  #   route_generator_type: MAP
+  #   send_av_messages: false
+  #   send_recording_ground_truth: false
+  #   time_start_offset_us: 00000
+  
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689-a3f2ea7187975b13
+    assert_zero_decision_delay: false
+    group_render_requests: true 
+    cameras:
+      - logical_id: CAM_F0
+        first_frame_offset_us: 0
+        frame_interval_us: 500000
+        height: 1080
+        width: 1920
+      - logical_id: CAM_L0
+        first_frame_offset_us: 0
+        frame_interval_us: 500000
+        height: 1080  
+        width: 1920
+      - logical_id: CAM_L1
+        first_frame_offset_us: 0
+        frame_interval_us: 500000
+        height: 1080
+        width: 1920
+      - logical_id: CAM_L2
+        first_frame_offset_us: 0
+        frame_interval_us: 500000
+        height: 1080
+        width: 1920
+      - logical_id: CAM_R0
+        first_frame_offset_us: 0
+        frame_interval_us: 500000
+        height: 1080
+        width: 1920
+      - logical_id: CAM_R1
+        first_frame_offset_us: 0
+        frame_interval_us: 500000
+        height: 1080
+        width: 1920
+      - logical_id: CAM_R2
+        first_frame_offset_us: 0
+        frame_interval_us: 500000
+        height: 1080
+        width: 1920
+      - logical_id: CAM_B0
+        first_frame_offset_us: 0
+        frame_interval_us: 500000
+        height: 1080
+        width: 1920
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    control_timestep_us: 500000 
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 5000000
+    n_rollouts: 1
+    n_sim_steps: 10 # max steps 10
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 00000
+  
+  # - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876-baf1301534ea54d6
+  #   assert_zero_decision_delay: false
+  #   group_render_requests: true 
+  #   cameras:
+  #     - logical_id: CAM_F0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_L0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080  
+  #       width: 1920
+  #     - logical_id: CAM_L1
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_L2
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R1
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_R2
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #     - logical_id: CAM_B0
+  #       first_frame_offset_us: 0
+  #       frame_interval_us: 500000
+  #       height: 1080
+  #       width: 1920
+  #   egomotion_noise:
+  #     cov_orientation_x: 0.0
+  #     cov_orientation_y: 0.0
+  #     cov_orientation_z: 0.0007
+  #     cov_x: 0.05
+  #     cov_y: 0.05
+  #     cov_z: 0.0
+  #     enabled: false
+  #     time_constant_orientation: 5.0
+  #     time_constant_position: 3.0
+  #   egopose_interval_us: 500000
+  #   control_timestep_us: 500000 
+  #   force_gt_duration_us: 20000000
+  #   min_traffic_duration_us: 5000000
+  #   n_rollouts: 1
+  #   n_sim_steps: 10 # max steps 10
+  #   physics_update_mode: NONE
+  #   planner_delay_us: 0
+  #   route_generator_type: MAP
+  #   send_av_messages: false
+  #   send_recording_ground_truth: false
+  #   time_start_offset_us: 00000
\ No newline at end of file
diff --git a/user_config_parallel_all_scenes.yaml b/user_config_parallel_all_scenes.yaml
new file mode 100644
index 00000000..608b078a
--- /dev/null
+++ b/user_config_parallel_all_scenes.yaml
@@ -0,0 +1,46256 @@
+enable_autoresume: true
+nr_workers: 1  # 4 个 worker 并行执行
+
+endpoints:
+  controller:
+    n_concurrent_rollouts: 14
+    skip: true
+  do_shutdown: true
+  driver:
+    n_concurrent_rollouts: 14
+    skip: true
+  physics:
+    n_concurrent_rollouts: 14
+    skip: true
+  sensorsim:
+    n_concurrent_rollouts: 2
+    skip: true
+  sensorsim_cache_size: '4'
+  trafficsim:
+    n_concurrent_rollouts: 14
+    skip: true
+extra_cameras:
+  - logical_id: camera_front_wide_120fov
+    rig_to_camera:
+      rotation_xyzw:
+        - -0.49929397355810856
+        - 0.5039939168301356
+        - -0.4972939976976715
+        - 0.49939397235113037
+      translation_m:
+        - 1.65897811
+        - -0.01443456
+        - 1.51539499
+
+scenarios:
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=0c318d7923d15b78
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=24567f5ad57455c4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=34f30283d3bd53ec
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=431ae29947e95c26
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=45e8b10f95925c47
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=4b594a8e80915943
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=5d3e45ad38ef5b9c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=83fd1c194c0c5441
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_00083_00485=c9b12b21fa7c57fd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=025b657634505df3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=067d731005885300
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=08b6a130aaa35629
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=1893fb783df95146
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=218adf8c450058eb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=368cb65e8fef57b7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=41d7b533797c5209
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=4c775cb227b0519d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=4ccc9e33aa795ef1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=644b16fd65f956b8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=6fbe0e06902e5304
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=6fed9368351f54d5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=78b4153a6d3e5b33
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=82cd122751085a80
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=9215555823945665
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=98017c16248a5f54
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=a41f538fa8e25be0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=c50b9b8950ba5347
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=dd9b1479609c5c59
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=e83be8437b0c5862
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=f02b15cc225b5d9a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01100_01664=fe800ded24045b44
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=0b57b00279885fd4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=0c77bbb199f3589f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=19488eb3301f5d26
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=2313aa310e16503d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=2cd1545c4c835ead
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=30f09e001cf55013
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=3debd3d86b5850dd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=54e1cb577c0a5f7e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=75f9d978b4d757a2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=a0e9cbedca0a56b7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=b6968f154bfb5a5d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=d3badb5f8c125e12
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=db180d0c665454aa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_01690_02183=ebfb953d479d5982
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_02482_02649=6507522e38405857
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_02482_02649=6f11adda2af357ff
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_02482_02649=8e9f743d92c05d10
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_02482_02649=b92ea560ae10562b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_03373_03550=27d74807a89a5268
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_03373_03550=741ee8b9ea3059a5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_03373_03550=80a4b14aef3f5a52
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_03373_03550=b133316a0e795993
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_03373_03550=c6c94bd6691c5008
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_03373_03550=d1065c7c84e054ae
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_03373_03550=e76485315c2c5028
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=0868436794795421
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=19d3dfdf0d2d5b6f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=35ceec8930305499
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=47e3bbbd82b2583b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=4e0667aa6ead5e7d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=56886aeb0f685bea
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=8898650e43665faf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=cc853dd8697f51b3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=d90cd23a434f5c55
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.16.10_veh-35_04097_04328=dbf083df3f5c55d7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_00934_01067=08ac82bf0eeb5661
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_00934_01067=12d283af921a5f09
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_00934_01067=748779bcdb5b5a49
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_00934_01067=974d5c00402f55aa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_00934_01067=c159f0c331075464
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_00934_01067=cdb1d43f01565d9c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_03764_04034=0578756b879c55d0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_03764_04034=23ee145aa4de582b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_03764_04034=2d4d907377f35695
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_03764_04034=5e9e8c31277d5edc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_03764_04034=60b5ba011ea65e68
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_03764_04034=9326163d4c9c5d16
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_03764_04034=d59310a4fd6e5fde
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_03764_04034=f5a9eba40a9055f3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=14c2bb3737ab519c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=4314c162a57f568e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=47359dd210e254ea
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=5395d42cc65e5c06
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=6225b347244658c1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=68ba9a9b2d6f572d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=bca002ce93bd5997
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=d398c8ceafe050be
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.24.08_veh-25_04059_04203=de03efda68e65021
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.26.37_veh-27_04122_04279=303d452ddd2d58d1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.26.37_veh-27_04122_04279=63d80f7499fc5784
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.26.37_veh-27_04122_04279=690d5fcd5dd056dc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.26.37_veh-27_04122_04279=d2c77b46ecee58f9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.14.26.37_veh-27_04122_04279=fcb4f430c99050b3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_00625_00855=247ba5f9646c5528
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_00625_00855=290a914d4ef15443
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_00625_00855=5c34deba76605c7b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_00625_00855=bdb0947d0c835022
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_00625_00855=d44d7aacab755892
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_00625_00855=e6eeac307f6d507d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_01478_01643=415b05ca44da5fbb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_01478_01643=4c7c3a0a401d5f38
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_01478_01643=6233d1b3e62a5772
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_01478_01643=7ffee2481b68517c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_03499_03671=00ff8eeb53cc598b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_03499_03671=18375bbfe4c85ae3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_03499_03671=5bbd26efb97658ec
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_03499_03671=ade979d99d51517f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_03499_03671=d5ece6235301571f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=2115a02d06035ce0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=3fb360a01b775e07
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=46ce401b30ac56e9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=476c37463b4f580e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=4bdff78fdccd5f6d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=5abe25231fd05639
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=81c70798936b5140
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=906d7e590245576a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=e905f33735985cfe
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=ec75cc0ff5825fb9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=efe0cf18491855e6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04027_04200=fdc126183c355692
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04463_04606=1fd4a838b258571f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04463_04606=6a85f61bdde35d74
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04463_04606=6e3c7a34388e5ae3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04463_04606=d88fdf29aeed58f5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.15.59.03_veh-30_04463_04606=f0a6222ab3e55174
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_00005_00217=3bc4c087ab1a50a3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_00005_00217=512b6941e1335e0f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_00005_00217=5c5f0c06d7035bb7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_00005_00217=60681597a59d5cf9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_00005_00217=8deec95251e95c2d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_00005_00217=92e3a80a8f775ce2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_00005_00217=d753a5379cc15b69
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_03311_03550=40d43586b1195366
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_03311_03550=46aea2dcb1485353
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.16.37.23_veh-25_03311_03550=d0fc0e92a9e4552f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01654_01850=0a0d91d55b0757f8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01654_01850=1370cea130165b51
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01654_01850=2959d5dbe8235765
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01654_01850=34d782c068c855be
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01654_01850=40df19739f215995
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01654_01850=77155a60b2ae5e75
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01654_01850=c1e1661e600c570e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01654_01850=cecd27d3ba0e54fd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01905_02121=0965108c193757a9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01905_02121=18d04df0d7e25316
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01905_02121=4749b2486da65268
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01905_02121=517e199220ca522b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01905_02121=624f26fa47485b3d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01905_02121=789af91cd1755b7e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01905_02121=9d5e6089bd0d5caf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_01905_02121=d83c3b7416f3577e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=0c437f9a102c57f4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=2a2cb941f34b5bc4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=4196ab00e95e532d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=42c7526fc6845005
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=84ed0a5827f656d8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=94a3b8d43f515d6e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=981ceb0924575bc3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=e4b6a49b32545d95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=f42258b638fc5b64
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_02723_02902=fe4e5fdf88195cfa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_04111_04288=0498b27fee425645
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_04111_04288=1270261ff182534f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_04111_04288=3f11ac11755857c2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_04111_04288=8051c60f20705909
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_04111_04288=95005e9d60b05d1d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_04111_04288=ecf10edba55e5595
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.17.54.41_veh-35_04967_05098=1baf6c7677a95a6a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.18.38.25_veh-25_04058_04186=649ee93e67cc58bb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.18.38.25_veh-25_04058_04186=b07f7a319de35f9a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.05.25.18.38.25_veh-25_04058_04186=cdc030cdbc9153ae
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=007845701f635565
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=09c56525e8e853a8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=169528411ca85ba4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=4bc793d4a9ef5860
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=5282504f73a759b9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=5b61b9072cad5dbc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=8d90099a801d5682
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=abe4fa26de85552d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=ae5377e5ebf65f45
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=b60b509ee8ba5197
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=be7331d3f05e5d16
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=d9c4acb18e675789
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=ddc904ff3be05595
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_00233_00609=e0865304e2b95eaa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_01100_01227=0f206a62842b59b2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_01100_01227=23d0ae8aedf8537b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_01100_01227=7bbb6cfc4f135e50
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_01100_01227=b111bb8716b756d2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_03526_03712=0c3c4cd553475d3a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_03526_03712=8eda03e314a456a4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.12.02.06_veh-35_03526_03712=da53dac7558e563d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00073_00426=4e1b2f2152b551e2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00073_00426=508209397e8f5714
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00073_00426=6389fb6f9d675e3b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00073_00426=896f25f6f25e52e0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00073_00426=9c68b0b158bb5d03
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00073_00426=a916c0c016825703
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00073_00426=b4ec906c4dbe5735
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00789_00999=0fa9d28a2e58550c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00789_00999=153733002b5a5d25
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00789_00999=72080a4a90a65d4b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00789_00999=878f3ddae1b7550f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00789_00999=ce09ed938df353d1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_00789_00999=f74148c131c15381
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02419_02561=05850e3460015579
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02419_02561=4f5d9ee9c2915058
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02419_02561=6535e6022ba0547c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02419_02561=77218354c5c25657
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02419_02561=be2d7d1ddb305428
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02419_02561=f976da772a435bd5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02572_02855=11118a8c74d95c5c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02572_02855=96af2f9a0f9352ab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02572_02855=b27841ee318f5d92
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02572_02855=bdef1564d4565c48
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02572_02855=e29b049a9bf3509c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02572_02855=f84b6dbc1cd35f61
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=0854af027e06530a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=0aa8c67f04b75a41
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=0ba42ee3c2555502
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=110bec4c6d2153d7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=1693d395bec753ae
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=26b80207f01e593f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=44cedd469129548d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=639352b63c715c1f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=6be41ab63cf05b6e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=6fc4fc2702305dfa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=7ccfef5040b359df
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=869f688594fc58c1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=9b58f5bd4e995a93
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=a572d70690f75ad4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=afa8102c20685ec5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=b27e2139fbb959fa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=b6a62a2356885962
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=c72c3c003bc95aab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=d1e9fac71909545f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=eb5ef679c80959fe
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.13.55.17_veh-35_02866_03582=f92ecd09fdf45404
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_00712_00855=ac24fb00e61a5da2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_00712_00855=ebc294355ca753b0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02571_02742=9a89dccc70835d69
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02571_02742=ff94ab2c81a25745
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=013d05a439b95210
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=0393e11b085a5cc2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=1434146a1ab75426
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=4495218e41b35f25
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=56da58294b3d53c5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=61046515c9885bf5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=6debfcfccc75589c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=76375396b08e5143
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=c2736d03415f515b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=d91f0c28683e52da
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=f1b802f6e9a559af
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=f5b613e3fa03593d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_02943_03220=fcb45b2aa29356d9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_03860_03992=21e4dfb3741d529f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_03860_03992=82b52ede639d544d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_03860_03992=95472243c6245fec
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.17.06.58_veh-35_03860_03992=a7ad6a154d2051bd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00123_00246=67c2aef1f35a523e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00123_00246=ae33eb2afd655f7d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00257_00492=4db7ecab510656e1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00257_00492=6e67504ab65f5314
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00257_00492=70becaf36f845b1d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00257_00492=9a524d13e6795a95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00257_00492=e10fd359f695575f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00257_00492=e6ff81ab83355450
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00257_00492=f2644280215250cd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=15454d7562d45fe6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=1bf45a481f1d52e3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=378d79a6bf715912
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=3f2cec87b5ad5d96
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=4a0ba18cefc05c63
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=98867b3fc7a95c24
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=a454e18ca33d5cb7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=ced5e9f4d448524e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.03.18.47.39_veh-35_00503_00777=e4d88f52d2b45609
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=0eb28cf3dad95c46
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=407bc420086a58f6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=5012cae5e4fc57a1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=58cf6aaf126b5727
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=626b5dc253965ecb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=69d2af69b1b75698
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=786f447064055cfd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=78f941ea974f5084
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=9100530861d851b0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=b411a654aa215f1b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.13.53.26_veh-26_00492_00696=c38664c4b23853a3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=066c0c3f45915cba
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=0c8b9f08bfa25dc2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=105e820419e05224
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=4f7b03242ab05a2d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=65729e98f81a526e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=7fc1ce68acb7562c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=9b3a284d78f458f3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=9bfa838de21f5d25
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=a06715f1cb8358c0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=a4c23fa815945fe3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=b043b68462d7540c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=b1e78f926612520e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=b49e63992eee56b1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=c37a081992495a0e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=c4e94b7583555176
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=c87001c4251e559a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=cce49307530e5b60
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=d32f8367252b53b1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.02.02_veh-38_02398_02848=d484aff53cd1589f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.10.57_veh-16_02438_02580=62c5045db3c159aa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.10.57_veh-16_02438_02580=78c9157a55905d81
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.10.57_veh-16_02438_02580=92838ad73bf95b3a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.15.10.57_veh-16_02438_02580=f24b703a3f14583f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=04aa69f18d255c96
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=114f66c4cf785eab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=1509901c10495792
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=260d8dc1970256a0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=33c7945f43795064
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=53d3787367c75240
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=64a417561b53530f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=73a3a880d8d8522c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=74693ae387e752fa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=89751620b3555ef8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=9d18c2e4a9c35be7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=ba6136583b6254e2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=be861669f7ff5de4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=d0785c050c1350e7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_00022_00368=e973ce0e5d605df5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=19a718729d3a5e37
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=253adcf13a3f5c15
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=5099c20d468f5cf4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=8feb2ae5cc2451c3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=b64b160540265465
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=c0ea178930145138
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=d2c7bb24957c56ad
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=ed8294474bc35b6c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=f36dbc258c8b5e17
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_01415_01821=fc6dc98b89a95817
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=0c38a8ace1f5548e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=330166def5a35f4d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=4291f43bae455b98
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=49119e0bd9335681
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=5816a23cfee25d4e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=5fe06174763b5c36
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=7cdcc814be255d9f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=8a2c1d34f9df5213
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=8cd3d83dd4825865
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=94652fa0c64d5846
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=ac07a96cae965e88
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=b24575ef9d575fb4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=b2f336de7d295a8b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=b87c15c9f6cf54eb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=ba84537a483f508a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=bc949c2045ca5537
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=c38fcc20f071501a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=d8c6aedcb54a56fb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=ea141bd5c40259de
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.29.11_veh-38_03263_03766=f79916e26eef5b74
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=0722adecc3d45ac4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=0fc28fe43e5d5693
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=1081728e06ca5239
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=12f96c65436e56bf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=13cfa80cabf85b80
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=2f9b9537ea1c5018
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=41da8ea7c14754d2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=6efb5186a9e55a68
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=806b014bc8c15160
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=9baf3c1d42b25070
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=a164681774715cea
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=b826ee4aedc95b0c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=bbb7e4525bd05d3d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=beeb0c78917a528a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=c2ae8e85ce2052ff
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=d32336b185505124
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.16.57.59_veh-26_00016_00484=de4ace24443b5b2d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=075154c90a0a5d7c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=08a80ada64475443
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=1741767a7646583a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=179ea24426e95029
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=4d38d745131c5de1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=4f8d9bfa869553bb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=5d47863332065766
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=6083bfcb495d5f9a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=7e9101f6d01a53e0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=831a14b3c0bb5c50
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=9ee5cb5e3908569a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=aa1f80806fa35b9f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=b50b8f11d75a5cb0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=c8629b9dd63e56ad
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=ed4bcfb05c405bac
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=f8e2454674f75e0f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=fa1a3ccade2e50bf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.18.03.27_veh-14_00620_01581=fd4c64e354f953bd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=2b3b9bb9f6525589
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=661d0a5bf2735f03
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=69c991e96f74541f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=6e163d828a555eee
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=7d5618d384ac5071
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=953aea8a2a085404
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=aaf90b3acdce5063
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=ced4cade3bea53e7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=db94e239ea1a5468
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_00369_00601=f6db2434c92450b8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=04e3e7c9b4bf5ddf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=0774f6d8e3185794
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=08e03654c0ca5151
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=0d7d0361dc665d25
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=0f622aef14545f59
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=10c1bbbe7d805eba
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=1347c91c511a5918
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=15165972946050eb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=1712f51cf5df564a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=1786ef7edac65502
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=1f2bbc5cb66b523a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=250e6e2e6a9d5ee8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=2c21ad85949653a6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=3078139bae8e592d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=33e37f9d760a56b1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=457acf87bc885550
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=4b9627827aff5013
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=5a8855c7c104596c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=5cbb02f3e0e253e5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=5e96a7620956567a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=5f78b2fcada85eef
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=6021973f81a75e0b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=6532afe679315809
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=68643a176fcb5c7c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=6892e067e25257f8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=763821f100605f76
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=7bbacd116bd75f85
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=806b0f2b2ade5454
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=80df9e4f79c65d4d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=83873a51bef051ac
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=8564551c362e5f26
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=8790ecedb8ac580e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=8aae579b8090538a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=8b1ba99df5d05f8b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=8fbca2950de45a7c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=926d8c9ced715a42
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=927b73fea33f5218
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=9334f5a33c07587a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=95ee5b14fb3a5ce0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=9a594a58c8125976
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=9dff2b84ff305fff
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=a5a4a6add0d05113
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=a6229e66c0e656d8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=a862b4e7cbc05869
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=ad84af7b33615884
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=b5ca533bca505ceb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=c0d4412fa9f15f5b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=cb61f2ea159355a0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=cc8a7b88b06b56c2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=cce0795c7ff05129
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=d11b9fcd004e5270
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=d3484ba53e775a66
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=d4278d63cd605813
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=d6353a288d0b545d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=d7f6204c325d53fe
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=d8338aefbb73570f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=e1ea05ca230f5c42
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=e2e6c22bce7f59fc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=e61699cda2f15e01
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=e776468d9bf65a8a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=e933d70dd378598f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=eb527d130d8d5e33
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.20.24.43_veh-38_03385_04952=f253fd0891d3562a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.16.05_veh-14_00957_01198=48f9e483baaf58a0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.16.05_veh-14_00957_01198=50a0fd7b031e5ca6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.16.05_veh-14_00957_01198=a04628cdd3f25947
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.16.05_veh-14_00957_01198=a9853ab9c01c53d2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.16.05_veh-14_00957_01198=c3d5c730ba905b86
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.16.05_veh-14_00957_01198=c768a604b14e5956
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.16.05_veh-14_00957_01198=ef300f8a9cf254bc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.16.05_veh-14_00957_01198=fd3b8f88745c5c2d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.47.53_veh-35_00280_00424=0eae7eacff765533
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.47.53_veh-35_00280_00424=2640335fd6565b4f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.47.53_veh-35_00280_00424=3e429827093e538d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.47.53_veh-35_00280_00424=6abe0ed266f258d9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.47.53_veh-35_00280_00424=6f7355de329659f2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.47.53_veh-35_00280_00424=8a2df3fb1632552a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.47.53_veh-35_00280_00424=9ad434ec99685d35
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.06.28.21.47.53_veh-35_00280_00424=f4da0138413c595a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=2ac5f9fae5a95215
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=2cae5f08e11a5dbd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=36a229f658875a2e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=45f13336bbd35146
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=4cac9f6cd85a5b47
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=5fadffd02da256e5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=650c7a9e7ea45062
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=9fdd329b72e85179
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=a1adc0fae78f5a3f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=e0d14f6cb7df526e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=e393bc5cafe95872
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.16.14.23.37_veh-45_00015_00132=f289e368449b517b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=059ca66ac38a5c28
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=1a1f73871bea5afa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=27cf243155ac526c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=5bb6cc197a7455e4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=65fd7014a79b5cba
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=910198c6086a5a34
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=96587a61c6c05d71
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=9f4f46e620785407
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=ac04f9fd4233550c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=b81d52bf71365207
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=c133861a233a51de
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=cdc6e3f7dcb25376
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00610_00771=e1886e081b945907
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00784_00867=335576eae9705bfc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=04daf401ec185f96
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=0a571473239f5c89
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=257d737fc3865fd1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=647a42b4e5075f16
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=702320a088cf5d53
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=70da6b21101d555f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=9a95d2419f1e592a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=a42cc34c8a985b67
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=d3cd01aa67de516f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=e5dc48dd83585491
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=e656eb8f3cdf590c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=f68aaf95d7825182
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=f9c0cc538bb457c8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_00878_01104=fd1e4ae4c102553c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_01116_01336=0a21cbc65e5b514f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_01116_01336=0ba54149d1575f95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_01116_01336=2dad1998a320527d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_01116_01336=4c684da98f405857
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_01116_01336=6f1be4d182475bc8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_01116_01336=af5ebe3ccf8f50ed
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_01116_01336=ef81756601bc569f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.13.45.25_veh-40_01116_01336=f6f14df95f6c52af
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00334_00419=237739df15ff58cb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00334_00419=72cb0bed47ab5464
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00334_00419=c2915f2ac7f55f97
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00334_00419=cb50b764d69557b9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00334_00419=d31d38e1a2305147
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=02f75336f9f55e4f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=04fafb805d465314
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=0a8c2aac609d5a04
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=1ca75f05f31d51cc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=2bc38f766c8851fa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=3ca2e3e846e75813
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=4109b79d84ea5053
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=443b9c514efc5829
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=537935a8e7b653f2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=638b83e65dd259f8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=673a88a4037f5b6b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=7fb88e704c1a5cca
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=c054f473288d5515
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=d50b69bed8f2570c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=da137494751e500f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00439_00835=fa7f471f19aa5806
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00885_00986=4211afd0df14524c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00885_00986=9f105aba36355fe1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.14.54.34_veh-40_00885_00986=b95ff3bc9cf45e47
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=047b56d34f1d5aa0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=190808cc16cc53af
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=43a4f01072795345
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=5403d4e6179a5354
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=6dcb6aa97a07588b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=8ff8246f69f75f6a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=91f7454802305af8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=b30ee22eca0a57ef
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=c28f3febaf635777
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=ea4d19ff25ac52f6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00256_00716=eb15f0d956eb5ac4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=0d1b753fd19f55cb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=521247f86d7f57c0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=639b55d4b2b65d0a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=7f47c3fca9075a31
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=a9c15f8aabb65b09
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=ab226645ee6f54aa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=c3ace87d2f985eaa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=c89f33e9f07d5aa8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=d0884d449b2959fe
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=d1971f367cb85683
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=e131caa356115811
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=e1f58cff32225d3a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=e5d2a01ab5b0562a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=f78a67043d9e5477
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_00779_01088=fb5265ab37085422
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=0d9243e74a1a501a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=0f24ec666e145cab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=112db94505025ec5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=2bd04a0902095129
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=4b3d6fc60b815701
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=58ad6156b5895541
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=9af711dfa6eb5952
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=af0e1a3043ba51c6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=cd0b91f235e25b76
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.08.30.16.16.44_veh-40_01099_01351=e699fb1c75b95e57
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00221_00299=026bb114391d5b81
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00221_00299=45c3a52706c555df
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00221_00299=b1a1b2a18fa4504f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00221_00299=cedd32ec31e45cd9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00221_00299=d2098ab3fc1953b3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00221_00299=d782b032259d5cc0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=00c489998dd4555c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=0bd98f90f42350a3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=1218b6a218b750d8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=13848a5be84f5a4a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=18d8181124185dfa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=20403b65d87d5e5a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=26e7a31dd615509c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=2c76300c674f5769
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=3388246402ca591e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=4849a426de8e5d24
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=4b721ff0b7025f21
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=50e5a63ba7ac5d51
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=52d3f15d6ca75701
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=581e219460ef5789
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=6d08dce7cfaa5035
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=704527beccac5701
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=7d51b80c3aa25109
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=8659bfccd4195fb6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=982b57b1c7c7503a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=994ab680895a55d2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=ab845dd1ff3c522d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=d436fd792f365847
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=e87f90ab04a25be9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00322_00895=f227c6775ba75451
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=0c9105d8ad6a5f52
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=0d35a8e6a98a5759
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=135337bf847b5726
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=47e64379df6b55b2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=73864df7d2d25214
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=814b5e08c20e57af
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=8d5d769b1f1e5802
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=b53b172e95895a12
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_00960_01115=dcf3da6b34935bc8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=2e54d786ec095896
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=2ea6bdf1e8905fd8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=4c3547b853675e66
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=6012210b020c53a9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=7ef36a2139b45d9a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=bc7ae4f9eced56c9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=cbbf59be3a4e555d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=d91edafc567a5fcc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01298_01492=d9b577262eed5ceb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=1b5521472b795718
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=4b3c6a95987c552d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=79a151c333745253
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=87339a4d32305504
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=a7fa8bccce9253cb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=a98e0fd4eee7534a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=bb85e87e90ae52ec
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=bba5d587cab25dfa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.14.18.22_veh-48_01503_01761=be0064dac5f85957
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00098_00328=51c2558524435a31
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00098_00328=85936ccd1b405f4c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00098_00328=ab74b3b32d8c5006
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00098_00328=b337627936ea5488
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00098_00328=c3ef435d900256c1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00098_00328=e133b313fabc56b4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00098_00328=e84ff3e29bc05254
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00098_00328=f6a8d6a5c5b355d0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00574_00646=3e7bec3b1c4359b6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00574_00646=5102468ad3745c60
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876=00f49d71f0eb507b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876=215c38293c335e25
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876=7780e502545a5df7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876=798842f0b1c253b4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876=7bce82e059a05030
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876=7d4c548895955e0d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876=88f3df2443c55e59
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00657_00876=baf1301534ea54d6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=08e025b8ab6253bc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=3b8d6a01f5705389
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=5883b0e7c7215e80
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=62667ead92a35fbd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=6782b9c3686f58f3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=6b258d7ddf7d53f3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=8f741adb793f51c9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=cf1c7170df175256
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_00889_01147=f2a8ed3f01f15ef3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01173_01237=10ae805f0be95c1f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01173_01237=2556a5c923c95128
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=3ae3cf56296b5861
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=4de72cf1449b51c8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=583e9cc4115258e4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=60e8f2447c205324
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=6e983b745cb9535b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=794b439e9922527b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=8686e685b08a5c3e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=879d4e4e0d2b5386
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=8993f8b000855b17
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=9fe3ed9455355edb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=a567ea679ba056ce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=b7598f311c365e95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=baf0c6e99bec57db
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01248_01450=fe4459e9f02052d3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01462_01552=1975d15fde2955ff
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01462_01552=a4f2f32aa59f53b9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.17.18.51_veh-48_01462_01552=e9bb1dab462252e9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00555_00731=160e6592389759c5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00555_00731=1e4f2f231ac0540e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00555_00731=463d1cf17f915536
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00555_00731=80f6c94fed0c5519
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00555_00731=a64a3e4f2048576d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00555_00731=daf38cecd5045cf6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00555_00731=e0094ac69a8955fb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=152679f2edce5c73
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=1b18327179f15a8f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=1ecea4b911675b72
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=3c7c1b09e9625732
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=4dd9d92ade255f95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=5c786c10eb7f57da
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=6d2b59f78d995d9c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=7d664c7260d45737
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=8eefb96f7e5f598e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=9d1d720d0e2e511e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=b814c5b773165d87
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=bddb70b4743352ce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=e14f1ffbe6f856e8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_00743_01071=e6bdb406a21e55ba
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_01340_01425=3756dc24f9e65fd7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_01340_01425=5487bbfde69354cb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.04.06_veh-40_01340_01425=ae878998fecb50a5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00427_00556=08a8fc71ab1b57c2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00427_00556=4c1a6bbf7aaa5228
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00427_00556=4d94decfbcd35ae6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00427_00556=631115d8e54d58fc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00427_00556=75d9973be85e50f0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00427_00556=a0d88b07304b5398
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00427_00556=cd4e4564d732554e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=1be3fd906c435f85
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=1c078ca2e3625bb0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=46cd5885206b5c6d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=83472e2adb545cd5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=8d21608fa8c354f1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=b5d5d15093af5638
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=cbbc4cdfaf2e5106
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=daea2a5f018858f6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00569_00903=e6dae41a69575555
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00969_01184=0eb6987fdc9b5213
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00969_01184=653ebb370df45ca5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00969_01184=8317ed430d8e50c3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00969_01184=9114a3a480dd5466
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00969_01184=cdda15bd879d5a30
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00969_01184=d224548a04525f2c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00969_01184=f1849aa89eed53d1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_00969_01184=f42bdbb0a30c5854
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_01622_01766=5016bf8ca2ee554c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_01622_01766=6e944f00e04c5f1c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_01622_01766=d2cac33c80f45434
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_01622_01766=df240e44ad0d5c3c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.09.18.29.25_veh-39_01622_01766=e7295df63d0751d2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00077_00153=171e0bea742d52d0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00077_00153=19227b35432f567e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00077_00153=1b88b298d405518e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00077_00153=9f521d00c3ef55b7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00077_00153=cfa1a5ff80355988
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00077_00153=e03da8beb33a5e06
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00077_00153=f424ee234e385b95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00077_00153=fbd06f49da055ea8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=0221ed2a1c495f23
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=21e98ee0ac165e2c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=2c5cbab120595d79
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=345f39f8de925db9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=392a50db492b536e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=52d9d533ca4e5980
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=592f536375e755b6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=59ea5c8c067e57e7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=6eac1c0e2bbd57bb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=77160cf8a6b8581d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=93ed1cf3d95a5dab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=a51fda3f10da5432
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=afe83cb6c0ae5f67
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=bd4dac2ccde55c08
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=c45fc2b353c655af
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=d08754ee7c5c5949
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=f419cea88ed9500b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=f754138d3e3e5fd5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00180_00342=fd001bff97c155b3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00630_00818=1424caab55de5db7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00630_00818=193b39b2ec4f53af
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00630_00818=39cbed62434a528b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00630_00818=5fffee1a19495dc6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00630_00818=92427e4a55475ba6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00630_00818=c9150b81da695ae9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00630_00818=fb2402a506065225
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00860_01069=01329f4a29285dfe
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00860_01069=0802a51b0a1d512c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00860_01069=17ea7a2cc29957fa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00860_01069=2eb015a011ac5fa2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00860_01069=7be1e4f2c85e50a8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00860_01069=d4358e3962b758ce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_00860_01069=e69be869445455c7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_01510_01591=2d9d3d15e7f25716
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_01510_01591=3e8e85cf14c65da8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_01510_01591=4dd1ab3a667b5074
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_01510_01591=71674e79275f5abb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_01510_01591=7a6d3719323a5188
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_01510_01591=ae50b115259f5a24
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.13.53.10_veh-42_01510_01591=ddc5aacc5d785804
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=0a77356a8ee85133
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=167fd80fa8635037
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=4972962184a75fa7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=4f67484c73e2503a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=5491f2f619e25dfb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=5865085ba43752de
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=5abd4abd73db5739
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=6a6362156db75390
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=6de8e1962fc4559a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=6fdde744b66451da
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=8179a26d74615228
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=834a23e3dd25542c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=83e895f722575452
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=8451437af5ba59ea
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=975c802f6f175888
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=b23be6b0d9765878
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=c354c8cf3c975581
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00032_00186=c7cb2e43b2d053b7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=089e3eac4f7e5c5c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=0a06f8a3204d5e11
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=0cc24c1449cd54f9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=0d8754f6d53d5968
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=13cd1cf21a4f5acb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=1c31e37ce65b52d9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=1db7c81f96855ce9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=2d0334f7e7d75853
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=3380d56c05ba594b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=3f269e7b5ced51fa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=47da19c4edbe5b95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=5cfbf7afa66458c3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=6828c3caaaca56e1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=727ed49214315cd6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=9a24a904a324581d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=a3882e6ae8635832
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=a44db880afe95be7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=b474c79361415cb0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=b7c35b12755c5d44
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=bb30019d8f645e62
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=bf00c76f25185b83
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=bf4c97f6024b5029
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=c484b85e7b07535c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=c7a44a2e52bc5e22
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=dee99345e2015845
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=e6056b57c0515735
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=e9b43b140b1d54bf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=e9cfc98fdc09590a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=f2592c08589e5398
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=f820630d5f0a50ed
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=fa9a6007ed205fe7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_00297_00935=fc0fc7649a335d27
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=389bfba2e25f581b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=3c4e1784d9295821
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=4e3f39fa6dfc5d12
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=51552f78760d5a11
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=53f8bc4012fe5f29
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=758cc7a721c2546d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=77cf9dfc36c35df7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=7f93aad83fb15871
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=a09e4156f577568a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=a3c4e4bf10d65ddb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=afbbcee34f1850fd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=beecbff2fd37592e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=cbf53151339658cb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=d01b6e67a995589c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=d1ef1e42fa15573d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01111_01448=eeab709ca6e05d14
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=44f75400f3a15c14
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=4ef621a8318b5085
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=6d3bb2ecca3e54b4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=8237f47b224952b4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=878665ca715b53d3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=8a4a0c6823cd5e33
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=8c156f5b675b5657
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=f0b762b8c08b5ff0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.14.39.34_veh-42_01609_01687=ff89c9bf77dc58ce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=13e6cd945bf95a1f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=16ee6602bb5c5e99
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=2a34f4d0aefc5039
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=5f402207dd7d5977
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=65271f4c14985330
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=6c5d84e81aca5755
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=70ee383e3b335c16
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=77761cd0edf15867
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=7edfabe116e25844
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=8d39d3f85647574c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=8fe49f5c68d65801
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=a8fb178e35d25d73
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=b5b8d20688385790
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=e6a94b91b19f5315
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=ed90bab84c475e4f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.12.03_veh-42_01037_01434=fe6105aa925d5621
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=037b976caae85af5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=0481cf2b75f1532f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=09cd7b3746d65a79
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=30e7a7c93a225968
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=365c0937de9d5885
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=526b66c665085401
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=551afc276a1a5ab3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=708d081d555a5aa7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=bf896d504b4356c7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=cebd7d74024b5cce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=dd162898ecf351d4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.15.47.30_veh-45_01199_01391=edf7e758c7075ce8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.16.20.27_veh-08_02435_02525=0abc30416c5a59cd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.16.20.27_veh-08_02435_02525=3acfdef9ef305e77
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.16.20.27_veh-08_02435_02525=6451d6a270c75f58
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.16.20.27_veh-08_02435_02525=76e0272a57f55674
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.16.20.27_veh-08_02435_02525=7cdcf11e211759cf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.16.20.27_veh-08_02435_02525=c1e76b8992fa5182
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.16.20.27_veh-08_02435_02525=ea8ce810e307587d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=13ae6351239c5343
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=14576a845ffc521a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=1b25edea36205814
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=1eade5af9ee65696
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=47e0ff3bc36a5f69
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=5a12337425265ea1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=661ce644db6d5546
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=6704953640e55b83
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=6f393be3019c508a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=8227648b1da95adb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=93bdcee4c814567c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=a96abad3a09753c5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=b5155b952c645ce0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.17.40.09_veh-45_02539_02745=f79b805ec2435c98
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=0d40059cfdf75e7a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=25c1569ea1d753f2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=2c978eb63fec5d2a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=45ebc34cbe405c3e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=ac808bd1bfac5425
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=c038901b4a0259ab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=c39f042bbc0256ba
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=ef1f8e45b9f05e4f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_00289_00398=f3e0463f3cf4505e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01088_01192=62eac0a6b7e05fbf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01088_01192=91afe72955de5b85
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01221_01380=1b96821ba3425e3b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01221_01380=2ff39958d9f35279
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01221_01380=3fd7c487c29f53bc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01221_01380=b683672d37cc5001
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=008b419a63b75917
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=2258bd346b3f5376
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=3d37ed78124057a1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=4161016e65df5b37
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=5cf43f51d45c552f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=6d2178f2992f5d22
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=909655c780e152ac
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=9104884bcb915c08
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=96cb1a2412095a90
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=9839a7913075581e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=9c03b730a5725c00
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=adccdafdfc3d5e0c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.12.04_veh-42_01438_01677=c169cf799b165800
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=132d1ec43fc058e1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=1457dddd3ea65845
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=1d63ddad646b5496
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=365808b195f35dff
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=8cc8fe63227d5c07
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=a2978bba82bd5751
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=cf31c5ada8c353bc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=d395fa715d3e58c7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=e09bc42b58285147
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=e5599a8884235d93
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=f0b6499b393152be
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_00472_00711=ffde3cc525b75021
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=077c80ecaed0548f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=0d77009a20f25175
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=10909749099354e6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=17296f6032025ecc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=19e90f2757b25f38
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=1b301e5f9ede59d7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=1fe5f6af95e15489
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=216b31d31f085114
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=262c4400163e5d8e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=3770407dcc67520c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=42629decf8ad5328
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=426cc213a80352f9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=43c9ac6f2bf95da0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=43f586c2ca4b5929
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=4c24c3efe0e4519d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=50613cf56a8d5a38
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=51e4c182629c50a7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=572e6c81e32958f2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=595909c413ac56dd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=5b1a620dcd675298
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=5b4cbfe57b9b524b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=5d3573d6da7952d3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=657ea52878935352
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=69938a4507ba5419
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=6b50fb6bf8265936
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=6b6afd7690245e14
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=7217a95078bf52f2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=7767ce3fbd5f5f50
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=790a5a0973815ab3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=79e7ccb136775266
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=8135a67aa74e586c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=81a726148d245594
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=8799520f3ff95bfc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=888913e0978f559b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=89e02236312d5038
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=9551ef5e14315cc0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=9696c1f82bc05ffc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=99213b077bdf516b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=a08215e27d775f96
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=a2839b1b4f0352e4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=a3d10c0a5a835300
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=a8455a10df085d45
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=a899eed59bf85d84
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=ac140df715d5573b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=b9aa102f4d7b5751
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=b9d14f59883a5496
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=bdad96248e575296
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=be63913f07ee5245
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=c099ebaef4c251d6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=c240593c969a5cfc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=c28b41c8410f5465
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=c64ddb8e7b675aa3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=c665621fe4e455cb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=c672b42254b3556d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=cd0a001eb97a5c88
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=cdc9eb7c7ddb5b08
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=d0d94d5dca655084
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=d33c6db306f35ef9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=d3dcb57d3c385f19
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=d6a60e406ebc5b01
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=d743862c9c555961
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=d870256a3b185659
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=e45572ab63ef5deb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=e85416da86d4567f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=ea1302023ad258ff
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.27.01_veh-45_01749_03230=f6268af57ef35a2b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=02015675e4585611
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=06fbdeb141965cca
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=1ca03ed089925396
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=33ecaddeb5735faf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=3b5422b60c4f5c4b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=4302a0a4b9f05b61
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=458e833803315b4f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=4abb45d9ee1a5c5c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=5ddfd1fe80af5ceb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=714a2012b2a75d4f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=7956c9ed4b855859
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=8bb939128dfd5f7d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=9a675656c3c85f4c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=9b1bea0cc0d75583
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=a067e1b873c8534d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=a08bb182c3d558da
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=a1d7b6056b4b5566
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=a9609780217c5831
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=bd70654aee0f54a6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=c687799dac8d5aa2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=c887e4bc08f85aa5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=caa3170f8c3b5cfe
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=d93d307c5aeb5338
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=ded4ce0e91b4596a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=e31131deed6656ea
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=e511376fdf3250e5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=f3e32c06633756e9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=f9349f5d723b5421
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.19.49.00_veh-42_00990_01609=fde7abb615895be2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.21.13.37_veh-42_00172_00347=7084e524e59c50ab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.21.13.37_veh-42_00172_00347=7900996a42f35f67
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.21.13.37_veh-42_00172_00347=a425dd8a1b5552db
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.16.21.13.37_veh-42_00172_00347=f3512ae175b45844
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00238_00320=0278f1a2ae3b5ae5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00238_00320=cf50ffa22c81555d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00238_00320=cfb755b8d37458ac
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00337_00504=00016f8b45c25a1d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00337_00504=0ab7e69f15735883
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00337_00504=32d85d373126537e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00337_00504=4624907fdacb5038
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00337_00504=6648a1c53b8c5994
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00337_00504=a55fdc98ef8057e5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00337_00504=e051405f88c05270
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=0879b546c3cb5615
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=0bdc177e43cf5df8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=1f211666d4465388
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=297a54df537c5317
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=3d6703caa0c951a8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=6058f9d8998e5a95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=645e303a25a65190
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=6781255a85605dd5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=687da3cabde458b5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=6e3cf172a2755fae
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=96c8893a610b51ba
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=987f5dced605588a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=9e24f7a402a85804
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=b036f9ef53cd5536
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=caa0f73288d75ba7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=d2dd81d9f7665fde
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_00528_00992=f5442665da9f554c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01059_01191=175f0101f12750b1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01059_01191=3d776c43acfd5327
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01059_01191=6eac35cd4c6e53b0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01059_01191=770c714d82535180
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01059_01191=dda361f4db52537a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01059_01191=f1e870d5d8275cac
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01202_01296=33197ac2a7445bd7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01202_01296=556283de632c5226
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01202_01296=af8dc1b01446555a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01202_01296=afbf26b6d3bb5bee
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01331_01485=1c4544c0876f5a08
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01331_01485=49ee466685265a80
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01331_01485=6659724ab0a8566c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01331_01485=8224a14715c2577b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01331_01485=a5ee1632a31556a1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01331_01485=a9c6cd5519815308
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01331_01485=f3493d3b23cd55c2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01331_01485=f5d9b1df3fef57ec
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01509_01628=49ae6840ff7f5e91
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01640_01743=0220967816915e94
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01640_01743=4ab74b20c99e5d20
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01640_01743=6ec2148215205936
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01640_01743=7db2c53b0e9e5971
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01640_01743=9b10283b8df6565e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01640_01743=9f839d5422315781
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01640_01743=aab517c2e5e75245
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.14.44.26_veh-28_01640_01743=cc934224447a5c86
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=1666152446cc5da7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=62108a4000e85dae
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=77ae9dba6f05550d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=8f273271b9eb537e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=a3dd6d539acc5c9b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=a8d904be723d5ab9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=adfc4abb1c4d50b3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=aec02ec2aec85c06
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=af6ce3c064fa5a56
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=c20397c103e65d12
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=d46b1d647640578f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=ee4a2e2de70a510b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00601_00802=fc0a60a9d8245aea
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=192220ae5c0a54a6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=4b3a1e85619e557f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=6edc8f2bcb3054be
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=700237dffc2d5be7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=7272f8ee7e64591e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=8e00c08f68af5357
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=ad6af1cce80c5983
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=b5ee0c4a00765073
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=bebbdf5c01b85cf1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=cc1862b24d0157bb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=d89e9c599cf5571b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.15.23.04_veh-28_00814_01101=f93bfd9479fd52ee
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00331_00426=1f095494fe755244
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00331_00426=918d03455301591b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=150d706a5add549a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=1559a9e324d6519d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=21b98219003453af
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=377d556af9d25dab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=38b4ff11393c5dec
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=6872fa29d1345d03
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=697c73f258ef5745
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=887e4d57da835b12
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=c44755b18af45385
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=d07fa319e6045a3d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=d82f1b20a55d5bcd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00438_00833=f3fd7b1cf6055ad5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=0334cae9f1ef56ae
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=035db9ac34715b07
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=04cdd9195f885ac6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=12f2dccfb88957f9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=16d4835b75b05efb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=511741d6df93540d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=522b72a25cbb5ef9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=c12b3554dcd655c0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=cb53746741b25730
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=ccd6fe2d044e5309
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=e83f4b6e1dd25c90
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=ea91c9a3a75f514c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=ec097e80d5565caa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_00844_01218=f3c6560a01e55c94
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=024d89a3e1e752dc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=09df1da0af885ddd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=12d426c6727d507a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=1947a9758e045ce9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=223d02be29c65e81
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=23803695a4c1547c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=3d86e3fc3499578f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=520f3dc854275784
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=555226e5142f50ed
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=59b4bb47cf6656cf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=5aa4b6dc8f0759b5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=63b69a3c54e95277
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=72cccfbb9c6f5e9e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=85028441255156b3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=9d423dea34235b41
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=bb6cb09beb1e5e3f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=c6c1dab6af9858f9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=dc096269aef55bf0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01268_01685=fefad5f7d3405512
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01727_01833=81aa7cde0f3f5b68
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.18.19.40_veh-28_01727_01833=cfb9e8d047515e4c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=2575048779565f0b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=2d2b781181f156dc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=32013abf6afd5d2e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=618902d469b5516e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=84ec7e450e205d8f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=9897a102ee075dee
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=9e4c1639be465a8a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=bbc8e4799fe85548
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=c8deb087395357c3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=f264f464b21753de
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00273_00514=f665cf888bbd5595
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=0573408e3cfb5130
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=22642c0ae9605891
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=26e8589d8c485726
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=310fcecd57a95e06
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=38b7b1afe2bf516b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=56b80cb2ca2c5983
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=5f09eaa4509f5997
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=68df055f82485e95
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=7e76a2b3918656f9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=7fcf6a30139b5d3e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=8a7750196bc65a14
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=a35847734fc65508
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=b12f2581dde259f4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=b8d2227c06a351e4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=cda381919f5e5dca
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=d9b79e606e595700
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00540_00917=f2e0d7e15fa253f0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=02e3e6d3ecfc5240
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=04f8f8b4cf0c52e7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=1b01f89fe48355b6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=38db478c95eb5079
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=3bbe96de854e5ff3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=3eef6c6972dd538f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=47fae9a1708b5101
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=480325e1f5085385
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=51259bf89422548a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=59bb570b4290572d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=5d5cef2e5d6b5d6b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=66ca1ffcef4354e9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=70847cda9b3d5b07
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=79ecc8e6e5fa5dd5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=8b93118c77d25b5d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=973043f273bc5940
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=989ce8f4205654d3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=9e970e2a22da585c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=a3f2ea7187975b13
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=b0902109adea5e0f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=b3c7b9fbf4655722
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=b762ea96cfa75157
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=b9d45c43c2fd5165
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=be7c407443f15fec
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=d93e31dfb0c25be5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=decd6b1dd7f65e1e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=e80df2a74bfd5a22
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=e96c8f66dae15d60
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_00964_01689=ebd8d87ff33b5b7a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_01717_01824=4e496bfdb6b95697
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_01717_01824=71729b03a1e95896
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_01717_01824=c2790319345a58cf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=2db75185de1d5763
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=36c9f5ba92385cee
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=6856c3ad77315d3c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=7f00cbbc74695c32
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=955af39177fe5ba1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=998c6c28d1475e78
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=b432924be8c151d8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=ca58b2e039305479
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=dcd3886f044a5e29
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=e6db7be94a175aec
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=ee9615c4b10d5ec9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02451_02708=f4eec162c14e5bfa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02911_03005=0b4dfcb47cb85e89
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02911_03005=3c542be991515ccd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02911_03005=498c6f15e5c856bb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_02911_03005=815153cb27f95a7c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=0beacadfbc4553ea
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=1ed8702288c15895
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=1f67195591a95027
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=58c018c299d05214
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=7da6ba784b8b5ff0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=87124bde96ba59b1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=8d06ea883e7853a9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=a2c2e046132e5596
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=ba13a6004a0c5f8d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=f1ceb70bd72a5048
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.09.29.19.02.14_veh-28_03198_03360=fbf2eaa61abb5a2f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=062a9e3dd60955ce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=1fa7d30105dd5ebd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=2a30c259f67c561d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=38b01bebf6df5fb8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=38b08f2868a75306
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=465d43bf893d5e66
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=4da3c27db2495e9e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=50a5b2cbb4515594
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=649c1659d8975ae3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=69e0bc4a585d504a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=86aae04a66c45970
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=9389ef5de0935e29
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=ba7d6b30a3a15384
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=bf1184622f355af4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=cbadd750cbd6581b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=e045d3abc4e95f52
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=e0a1d14a2cea5d4a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=e36e9da57e1e5e32
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=e9505f806d8d5998
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=eea52ed765aa5977
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=f335a11369685b08
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00006_00398=fe74f3d6f5ea5283
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=07846b829b3a575e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=24b9908a6761529b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=2b4fee42169a54a8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=3e42abec9c495419
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=4dba0d7ebbf95639
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=62ebe5d1697f5b73
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=6632c49f6f675b7b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=6c3a055d6ac15aa9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=79bb6b3243f151a6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=9ee3c3a666d35a5c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=a66018d8ad8f594d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=b657fb1afb7c54f3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=eac61acb69665f21
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=eeba0804c2645281
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00422_00728=fb1d534ccf82583f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00772_00917=4cf608d9de4e5349
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00772_00917=54ab49005da25b3e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00772_00917=687fa6fce3ab5f91
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00772_00917=8187be48a9d95d91
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00772_00917=ba2ebab05dfd523e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=015593741e7050f7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=507a3844cf3051de
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=5bb280e3aebe5a67
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=62b0d1b0d5b35c44
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=67debdeae60b5fa4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=934c8ac938ad5dca
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=a489c23d292e56fa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=b1649a41e6155dd2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_00953_01126=c86c1d9c6e9c58aa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=0004474e9e3f5470
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=05d010f73fab576b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=097d35208fcb587c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=115d3d7bdadf52f8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=13ba9275e341525b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=1c0c94dbcd5359fc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=21b8742127e7523c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=22021c2141625fce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=24817ec41ccb5f01
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=2b10974c7f7e5444
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=39215c6e71725031
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=4ceacfb6be565ab3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=4fd76c8d85845816
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=566cac9a7c0358ce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=56783067f37c553f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=6042c6249f31509b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=661278fc8a9c57d3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=66b9427f41385b55
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=8294a047fcda5698
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=829e3a1622565a63
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=85570db66d605000
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=947b3794a3275a2c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=94c0ff5134d45dd1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=97080182e9a455b3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=9ebcea6ba47651f0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=a1848a01a20b5224
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=a82187d6e7805fa2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=a9956fd52aa15f39
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=b031e4b0aea8528b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=b50353ebaee65cbe
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=b92aaa468aa25958
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=be9298a106f552af
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=c2a93dd3494b5702
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=d392c806c0605f72
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=d79874fa9ba4558e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=e63d13e083695b1f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=efd6ba6db6db5f6c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=f016e2b6ac155a30
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=f5af09063e125bb2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_01245_02064=f86eb011b333505e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=09ce454826895686
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=263f5537c4f85b38
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=40843dcbac9d5c2e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=6743ebcc6f5259b8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=985e562ded345da4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=9a2894f199095f96
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=b04064e074f55bb0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=b5e3abde704b54c8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=c93008394b945625
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=ca62812a55ce5f0b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=d37afaf062ea5835
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=de56fef875ac5a5e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=e4b8bdb842ae567e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=e66b1160e38f5483
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.07.26.10_veh-52_02208_02394=fbf9670a3e82519c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=2e67ddf209365112
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=3eb063189dd15649
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=4faa4706a50958e2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=5c5a8066ceae51bc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=6b68c09f87b85dc8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=84b38cdaa93e5dcd
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=863e343b2fe45cc1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=a0be9e4c6cc15ec7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00032_00170=cd59c2696d01521a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=0d7f280bf979592b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=13b9787d163b5072
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=1d3a143cf41f5d16
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=39168e35ed085e11
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=4eaf35cea96d5dd9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=5a3a4277dc785511
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=67077701cdd85c9d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=7595830169065d37
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=78c26c7e63c3534c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=a8c2268684c35a80
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=a9af1e73c9575428
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=b9c124bdb19956b7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=be6f90f06bc35be3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=c2f56a56716f55e3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=d7b1349fb4775cc1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=ddc1271ea57154bc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=e14711ef4d2f5000
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=f082cf21642c5cbc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00181_00574=f9ed38d9ddfa531e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00612_00782=0fcb8c19983c51b6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00612_00782=3c8a95ec33f45af6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00612_00782=409711b03072566a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00612_00782=42eef0001e6c5498
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00612_00782=91c7e207e3395557
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00612_00782=b5668089b793502b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00612_00782=ccfe1da323ed53a9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=3502b30911d75ed8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=45c6be97d810541f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=50628427853659fc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=5b7d7e1a42c95cd7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=7ae0a03be0c357d2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=7c4757c2c9675f2b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=8601b9cf8c6852f3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=8c9e3fd944c051e3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=8d3ac506e17050ba
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=9b0a5826d2d357d8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=b628faa4178d5eaf
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=c20652fc6a78529b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=c9aa2159bc3a50a0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=d496c44726c35e33
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=d81c4398a40b52b9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=da6d3b6810995466
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_00922_01296=da751fd130625cce
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=0a954cc695e751ab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=0fedf81df2db5b96
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=281798a7d40559bb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=3296619ed0855e31
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=50fef67a5a9a5a4b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=64a7186ab49b5cdc
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=735587b14e39568c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=73c6bf15d3cc58e4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=abdf3c37dc03596c
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=b227439005885966
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=bc2532765f5a5262
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=d551f73a1e4251aa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=dad96574decb5a68
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01430_01579=e8850900bade58f6
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=078bc1027dde5d1a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=320446eca62c59fe
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=424e3df76d475635
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=8d3c8a698ac65342
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=9e522849163c53b8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=a5f411a2c379503d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=c8aeadf284a05f44
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=dd2d7e23754e58d3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01590_01725=f4495a91b9fb505d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=02b68b9cc51f506a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=069c6a5e408653ab
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=0ef7ecd9c0035467
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=0fa603b5789956f1
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=1f54430427975391
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=1f6d3d52a6685c15
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=20728d3e677b593d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=3276f87a152651f0
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=3a3297d21e905b02
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=3b4031def0f45d96
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=3d1bf2cf5ad151c7
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=430589fe41235469
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=5e02e80df7fe5f5b
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=667ea4f79faf5baa
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=67339e7fe4135722
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=69dec5959d7d53a9
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=69e8a01f073d5080
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=6a064f6f4529550a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=77424ed925b45c77
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=79ea7fb311c4574a
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=8551466c8066505e
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=8abfcd61303b52df
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=8be5583b37785664
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=96f6cde1205e5865
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=971d199e8b9b5e71
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=9a3778686fd058d2
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=9ba21cb552c35238
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=a67f68a6c9e85668
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=b958e6967993560f
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=c78f87b2bd4151d4
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=cd284af1ade75426
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=e072351fbbfd5765
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=e0cbc7ab694157a5
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=e9adc94d4e9c5fbb
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=ea23b2bb8e5756b8
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=ea32cdfc9478501d
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=efeac78f0da05463
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=ff44394af7265df3
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000
+  - scene_id: 2021.10.06.08.16.17_veh-52_01949_02501=ffe92084016a5795
+    assert_zero_decision_delay: true
+    cameras:
+      - first_frame_offset_us: -30000
+        frame_interval_us: 500000
+        height: 1080
+        logical_id: camera_front_wide_120fov
+        shutter_duration_us: 30000
+        width: 1920
+    control_timestep_us: 500000
+    egomotion_noise:
+      cov_orientation_x: 0.0
+      cov_orientation_y: 0.0
+      cov_orientation_z: 0.0007
+      cov_x: 0.05
+      cov_y: 0.05
+      cov_z: 0.0
+      enabled: false
+      time_constant_orientation: 5.0
+      time_constant_position: 3.0
+    egopose_interval_us: 500000
+    force_gt_duration_us: 20000000
+    min_traffic_duration_us: 3000000
+    n_rollouts: 1
+    n_sim_steps: 8
+    physics_update_mode: NONE
+    planner_delay_us: 0
+    route_generator_type: MAP
+    send_av_messages: false
+    send_recording_ground_truth: false
+    time_start_offset_us: 1000000