control_conf_lite.pb.txt

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control_test_duration: -1
enable_csv_debug: false
enable_speed_station_preview: false
is_control_test_mode: false
use_preview_speed_for_table: false
enable_input_timestamp_check: false
max_localization_miss_num : 20
max_planning_miss_num: 20
max_acceleration_when_stopped : 0.01
steer_angle_rate: 100
enable_gain_scheduler: true
set_steer_limit: true
enable_slope_offset: false
 
control_period: 0.01
trajectory_period: 0.1
chassis_period: 0.01
localization_period: 0.01
max_status_interval_sec: 0.1
max_planning_interval_sec: 0.2
max_planning_delay_threshold: 4.0
action: STOP
soft_estop_brake: 50.0
active_controllers: LAT_CONTROLLER
active_controllers: LON_CONTROLLER
max_steering_percentage_allowed: 100
minimum_speed_resolution: 0.2
query_relative_time: 0.8
minimum_speed_protection: 0.1
lat_controller_conf {
  ts: 0.01
  preview_window: 0
  cf: 155494.663
  cr: 155494.663
  mass_fl: 520
  mass_fr: 520
  mass_rl: 520
  mass_rr: 520
  eps: 0.01
  matrix_q: 0.005
  matrix_q: 0.0
  matrix_q: 0.25
  matrix_q: 0.02
  reverse_matrix_q: 0.5
  reverse_matrix_q: 0.0
  reverse_matrix_q: 0.4
  reverse_matrix_q: 0.0
  cutoff_freq: 10
  mean_filter_window_size: 5
  max_iteration: 150
  max_lateral_acceleration: 5.0
  lat_err_gain_scheduler {
    scheduler {
      speed: 4.0
      ratio: 1.0
    }
    scheduler {
      speed: 8.0
      ratio: 0.6
    }
    scheduler {
      speed: 12.0
      ratio: 0.2
    }
    scheduler {
      speed: 20.0
      ratio: 0.1
    }
    scheduler {
      speed: 25.0
      ratio: 0.05
    }
  }
  heading_err_gain_scheduler {
    scheduler {
      speed: 4.0
      ratio: 1.0
    }
    scheduler {
      speed: 8.0
      ratio: 0.6
    }
    scheduler {
      speed: 12.0
      ratio: 0.4
    }
    scheduler {
      speed: 20.0
      ratio: 0.2
    }
    scheduler {
      speed: 25.0
      ratio: 0.1
    }
  }
}
lon_controller_conf {
  ts: 0.01
  speed_controller_input_limit: 2.0
  station_error_limit: 2.0
  preview_window: 20.0
  standstill_acceleration: -3.0
  station_pid_conf {
    integrator_enable: false
    integrator_saturation_level: 0.3
    kp: 0.2
    ki: 0.0
    kd: 0.0
  }
  low_speed_pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.3
    kp: 0.5
    ki: 0.3
    kd: 0.0
  }
  high_speed_pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.3
    kp: 1.0
    ki: 0.3
    kd: 0.0
  }
  switch_speed: 2.0
  reverse_station_pid_conf {
    integrator_enable: false
    integrator_saturation_level: 0.3
    kp: 0.2
    ki: 0.0
    kd: 0.0
  }
  reverse_speed_pid_conf {
    integrator_enable: true
    integrator_saturation_level: 0.1
    kp: 0.05
    ki: 0.0
    kd: 0.0
  }
  pitch_angle_filter_conf {
    cutoff_freq: 5
  }
  calibration_table {
    calibration {
      speed: 0.0
      acceleration: -1.43
      command: -35.0
    }
    calibration {
      speed: 0.0
      acceleration: -1.28
      command: -27.0
    }
    calibration {
      speed: 0.0
      acceleration: -1.17
      command: -25.0
    }
    calibration {
      speed: 0.0
      acceleration: -1.02
      command: -30.0
    }
    calibration {
      speed: 0.0
      acceleration: -0.48
      command: -27.5
    }
    calibration {
      speed: 0.0
      acceleration: 0.09
      command: -20.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.32
      command: -15.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.35
      command: -17.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.37
      command: 17.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.39
      command: 15.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.41
      command: -13.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.72
      command: 20.0
    }
    calibration {
      speed: 0.0
      acceleration: 0.97
      command: 22.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.4
      command: 25.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.43
      command: 27.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.53
      command: 30.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.65
      command: 35.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.79
      command: 40.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.89
      command: 45.0
    }
    calibration {
      speed: 0.0
      acceleration: 1.94
      command: 50.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.03
      command: 55.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.08
      command: 65.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.11
      command: 60.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.3
      command: 80.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.33
      command: 70.0
    }
    calibration {
      speed: 0.0
      acceleration: 2.34
      command: 75.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.87
      command: -35.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.41
      command: -27.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.25
      command: -30.0
    }
    calibration {
      speed: 0.2
      acceleration: -1.22
      command: -25.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.87
      command: -33.0
    }
    calibration {
      speed: 0.2
      acceleration: -0.48
      command: -22.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.09
      command: -20.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.32
      command: -15.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.36
      command: -17.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.38
      command: 17.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.39
      command: 15.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.41
      command: -13.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.74
      command: 20.0
    }
    calibration {
      speed: 0.2
      acceleration: 0.98
      command: 22.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.43
      command: 25.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.48
      command: 27.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.59
      command: 30.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.72
      command: 35.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.87
      command: 40.0
    }
    calibration {
      speed: 0.2
      acceleration: 1.98
      command: 45.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.03
      command: 50.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.15
      command: 55.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.22
      command: 65.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.23
      command: 60.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.44
      command: 80.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.45
      command: 70.0
    }
    calibration {
      speed: 0.2
      acceleration: 2.47
      command: 75.0
    }
    calibration {
      speed: 0.4
      acceleration: -6.89
      command: -35.0
    }
    calibration {
      speed: 0.4
      acceleration: -5.78
      command: -33.0
    }
    calibration {
      speed: 0.4
      acceleration: -4.19
      command: -30.0
    }
    calibration {
      speed: 0.4
      acceleration: -2.88
      command: -27.0
    }
    calibration {
      speed: 0.4
      acceleration: -1.77
      command: -25.0
    }
    calibration {
      speed: 0.4
      acceleration: -0.48
      command: -22.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.01
      command: -20.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.31
      command: -15.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.35
      command: 15.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.38
      command: -17.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.4
      command: -13.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.43
      command: 17.0
    }
    calibration {
      speed: 0.4
      acceleration: 0.82
      command: 20.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.07
      command: 22.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.57
      command: 25.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.66
      command: 27.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.78
      command: 30.0
    }
    calibration {
      speed: 0.4
      acceleration: 1.94
      command: 35.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.12
      command: 40.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.22
      command: 45.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.24
      command: 50.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.43
      command: 55.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.47
      command: 60.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.54
      command: 65.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.67
      command: 75.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.68
      command: 70.0
    }
    calibration {
      speed: 0.4
      acceleration: 2.71
      command: 80.0
    }
    calibration {
      speed: 0.6
      acceleration: -8.63
      command: -35.0
    }
    calibration {
      speed: 0.6
      acceleration: -7.54
      command: -33.0
    }
    calibration {
      speed: 0.6
      acceleration: -5.04
      command: -30.0
    }
    calibration {
      speed: 0.6
      acceleration: -2.98
      command: -27.0
    }
    calibration {
      speed: 0.6
      acceleration: -1.66
      command: -25.0
    }
    calibration {
      speed: 0.6
      acceleration: -0.5
      command: -22.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.02
      command: -20.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.31
      command: -15.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.35
      command: -13.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.36
      command: 15.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.38
      command: -17.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.43
      command: 17.0
    }
    calibration {
      speed: 0.6
      acceleration: 0.85
      command: 20.0
    }
    calibration {
      speed: 0.6
      acceleration: 1.18
      command: 22.0
    }
    calibration {
      speed: 0.6
      acceleration: 1.71
      command: 25.0
    }
    calibration {
      speed: 0.6
      acceleration: 1.85
      command: 27.0
    }
    calibration {
      speed: 0.6
      acceleration: 1.96
      command: 30.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.16
      command: 35.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.34
      command: 40.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.37
      command: 50.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.4
      command: 45.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.57
      command: 60.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.61
      command: 55.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.72
      command: 65.0
    }
    calibration {
      speed: 0.6
      acceleration: 2.77
      command: 72.5
    }
    calibration {
      speed: 0.6
      acceleration: 2.8
      command: 80.0
    }
    calibration {
      speed: 0.8
      acceleration: -9.18
      command: -35.0
    }
    calibration {
      speed: 0.8
      acceleration: -8.26
      command: -33.0
    }
    calibration {
      speed: 0.8
      acceleration: -5.13
      command: -30.0
    }
    calibration {
      speed: 0.8
      acceleration: -2.78
      command: -27.0
    }
    calibration {
      speed: 0.8
      acceleration: -1.71
      command: -25.0
    }
    calibration {
      speed: 0.8
      acceleration: -0.48
      command: -22.0
    }
    calibration {
      speed: 0.8
      acceleration: 0.01
      command: -20.0
    }
    calibration {
      speed: 0.8
      acceleration: 0.29
      command: -15.0
    }
    calibration {
      speed: 0.8
      acceleration: 0.31
      command: 1.0
    }
    calibration {
      speed: 0.8
      acceleration: 0.35
      command: -17.0
    }
    calibration {
      speed: 0.8
      acceleration: 0.37
      command: 17.0
    }
    calibration {
      speed: 0.8
      acceleration: 0.87
      command: 20.0
    }
    calibration {
      speed: 0.8
      acceleration: 1.23
      command: 22.0
    }
    calibration {
      speed: 0.8
      acceleration: 1.82
      command: 25.0
    }
    calibration {
      speed: 0.8
      acceleration: 1.99
      command: 27.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.1
      command: 30.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.34
      command: 35.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.46
      command: 50.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.52
      command: 42.5
    }
    calibration {
      speed: 0.8
      acceleration: 2.61
      command: 60.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.7
      command: 55.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.73
      command: 70.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.74
      command: 75.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.76
      command: 65.0
    }
    calibration {
      speed: 0.8
      acceleration: 2.78
      command: 80.0
    }
    calibration {
      speed: 1.0
      acceleration: -9.17
      command: -35.0
    }
    calibration {
      speed: 1.0
      acceleration: -8.44
      command: -33.0
    }
    calibration {
      speed: 1.0
      acceleration: -4.97
      command: -30.0
    }
    calibration {
      speed: 1.0
      acceleration: -2.72
      command: -27.0
    }
    calibration {
      speed: 1.0
      acceleration: -1.74
      command: -25.0
    }
    calibration {
      speed: 1.0
      acceleration: -0.5
      command: -22.0
    }
    calibration {
      speed: 1.0
      acceleration: -0.07
      command: -20.0
    }
    calibration {
      speed: 1.0
      acceleration: 0.21
      command: -15.0
    }
    calibration {
      speed: 1.0
      acceleration: 0.27
      command: -13.0
    }
    calibration {
      speed: 1.0
      acceleration: 0.28
      command: -1.0
    }
    calibration {
      speed: 1.0
      acceleration: 0.32
      command: 17.0
    }
    calibration {
      speed: 1.0
      acceleration: 0.89
      command: 20.0
    }
    calibration {
      speed: 1.0
      acceleration: 1.25
      command: 22.0
    }
    calibration {
      speed: 1.0
      acceleration: 1.89
      command: 25.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.09
      command: 27.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.2
      command: 30.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.49
      command: 35.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.56
      command: 50.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.62
      command: 45.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.66
      command: 40.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.67
      command: 60.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.7
      command: 70.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.73
      command: 75.0
    }
    calibration {
      speed: 1.0
      acceleration: 2.76
      command: 66.6666666667
    }
    calibration {
      speed: 1.2
      acceleration: -9.07
      command: -35.0
    }
    calibration {
      speed: 1.2
      acceleration: -8.35
      command: -33.0
    }
    calibration {
      speed: 1.2
      acceleration: -4.79
      command: -30.0
    }
    calibration {
      speed: 1.2
      acceleration: -2.78
      command: -27.0
    }
    calibration {
      speed: 1.2
      acceleration: -1.71
      command: -25.0
    }
    calibration {
      speed: 1.2
      acceleration: -0.53
      command: -22.0
    }
    calibration {
      speed: 1.2
      acceleration: -0.09
      command: -20.0
    }
    calibration {
      speed: 1.2
      acceleration: 0.14
      command: -15.0
    }
    calibration {
      speed: 1.2
      acceleration: 0.19
      command: 15.0
    }
    calibration {
      speed: 1.2
      acceleration: 0.21
      command: -13.0
    }
    calibration {
      speed: 1.2
      acceleration: 0.22
      command: -17.0
    }
    calibration {
      speed: 1.2
      acceleration: 0.23
      command: 17.0
    }
    calibration {
      speed: 1.2
      acceleration: 0.87
      command: 20.0
    }
    calibration {
      speed: 1.2
      acceleration: 1.27
      command: 22.0
    }
    calibration {
      speed: 1.2
      acceleration: 1.95
      command: 25.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.16
      command: 27.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.27
      command: 30.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.59
      command: 35.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.68
      command: 50.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.71
      command: 45.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.74
      command: 70.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.77
      command: 40.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.78
      command: 60.0
    }
    calibration {
      speed: 1.2
      acceleration: 2.8
      command: 73.3333333333
    }
    calibration {
      speed: 1.2
      acceleration: 2.82
      command: 55.0
    }
    calibration {
      speed: 1.4
      acceleration: -8.98
      command: -35.0
    }
    calibration {
      speed: 1.4
      acceleration: -8.12
      command: -33.0
    }
    calibration {
      speed: 1.4
      acceleration: -4.67
      command: -30.0
    }
    calibration {
      speed: 1.4
      acceleration: -2.82
      command: -27.0
    }
    calibration {
      speed: 1.4
      acceleration: -1.69
      command: -25.0
    }
    calibration {
      speed: 1.4
      acceleration: -0.54
      command: -22.0
    }
    calibration {
      speed: 1.4
      acceleration: -0.14
      command: -20.0
    }
    calibration {
      speed: 1.4
      acceleration: 0.11
      command: -15.0
    }
    calibration {
      speed: 1.4
      acceleration: 0.14
      command: -17.0
    }
    calibration {
      speed: 1.4
      acceleration: 0.15
      command: 1.0
    }
    calibration {
      speed: 1.4
      acceleration: 0.18
      command: 17.0
    }
    calibration {
      speed: 1.4
      acceleration: 0.87
      command: 20.0
    }
    calibration {
      speed: 1.4
      acceleration: 1.3
      command: 22.0
    }
    calibration {
      speed: 1.4
      acceleration: 1.99
      command: 25.0
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    calibration {
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    calibration {
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    calibration {
      speed: 8.6
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    calibration {
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    calibration {
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      speed: 8.8
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    calibration {
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    }
    calibration {
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    calibration {
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    calibration {
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    calibration {
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    }
    calibration {
      speed: 10.0
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    }
    calibration {
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    }
    calibration {
      speed: 10.0
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      command: 65.0
    }
  }
}