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Rain Drizzle and Fog 🌧️ - #38547

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YassineYousfi wants to merge 10 commits into
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Rain Drizzle and Fog 🌧️ #38547
YassineYousfi wants to merge 10 commits into
masterfrom
rdf-driving

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@YassineYousfi

@YassineYousfi YassineYousfi commented Aug 6, 2026

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Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

⚠️ 9 changed, 57 passed, 0 errors

Show changes 

HYUNDAI - regenAA0FC4ED71E|2025-04-08--22-57-50--0 [controlsd]

  carControl.actuators.torque (1459 diffs)
    frame 78: 0.15070782601833344 -> 0.034271836280822754
    frame 79: 0.14632757008075714 -> 0.02990580163896084
    frame 80: 0.14633290469646454 -> 0.038779858499765396
    frame 81: 0.14633803069591522 -> 0.047629375010728836
    frame 82: 0.146341010928154 -> 0.05644230917096138
    frame 83: 0.2290595918893814 -> 0.08306699991226196
    frame 84: 0.2315993756055832 -> 0.08796710520982742
    frame 85: 0.23158253729343414 -> 0.09669710695743561
    frame 86: 0.2315686196088791 -> 0.10543587058782578
    frame 87: 0.2084094136953354 -> 0.11256057769060135
    (... 1449 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (1278 diffs)
    frame 78: -0.04134151339530945 -> 0.05503763258457184
    frame 79: -0.041327591985464096 -> 0.05500388145446777
    frame 80: -0.04135383293032646 -> 0.04769879952073097
    frame 81: -0.041379231959581375 -> 0.04040262848138809
    frame 82: -0.041394028812646866 -> 0.03311454504728317
    frame 83: -0.09140821546316147 -> 0.029662540182471275
    frame 84: -0.09297581017017365 -> 0.026008661836385727
    frame 85: -0.09289299696683884 -> 0.018733007833361626
    frame 86: -0.09282507747411728 -> 0.011470547877252102
    frame 87: -0.07497366517782211 -> 0.004214146640151739
    (... 1268 more)

  controlsState.lateralControlState.torqueState.error (1278 diffs)
    frame 78: -0.04592779651284218 -> 0.05045134946703911
    frame 79: -0.042288679629564285 -> 0.054042793810367584
    frame 80: -0.04231547936797142 -> 0.046737153083086014
    frame 81: -0.04234141856431961 -> 0.03944044187664986
    frame 82: -0.04235653206706047 -> 0.03215204179286957
    frame 83: -0.09344673156738281 -> 0.027624022215604782
    frame 84: -0.09501250833272934 -> 0.023971961811184883
    frame 85: -0.09492803364992142 -> 0.016697973012924194
    frame 86: -0.09485874325037003 -> 0.009436880238354206
    frame 87: -0.08062556385993958 -> -0.0014377570478245616
    (... 1268 more)

  controlsState.lateralControlState.torqueState.f (1117 diffs)
    frame 104: -0.3889356255531311 -> -0.4059659242630005
    frame 105: -0.37746503949165344 -> -0.40593060851097107
    frame 106: -0.3707435429096222 -> -0.4059072732925415
    frame 112: -0.4068012535572052 -> -0.41750434041023254
    frame 113: -0.3931988477706909 -> -0.3777191936969757
    frame 114: -0.38468465209007263 -> -0.36921730637550354
    frame 115: -0.3764314651489258 -> -0.360975056886673
    frame 116: -0.36435437202453613 -> -0.34889084100723267
    frame 117: -0.29415854811668396 -> -0.337656170129776
    frame 118: -0.2957405745983124 -> -0.33935338258743286
    (... 1107 more)

  controlsState.lateralControlState.torqueState.output (1459 diffs)
    frame 78: 0.15070782601833344 -> 0.034271836280822754
    frame 79: 0.14632757008075714 -> 0.02990580163896084
    frame 80: 0.14633290469646454 -> 0.038779858499765396
    frame 81: 0.14633803069591522 -> 0.047629375010728836
    frame 82: 0.146341010928154 -> 0.05644230917096138
    frame 83: 0.2290595918893814 -> 0.08306699991226196
    frame 84: 0.2315993756055832 -> 0.08796710520982742
    frame 85: 0.23158253729343414 -> 0.09669710695743561
    frame 86: 0.2315686196088791 -> 0.10543587058782578
    frame 87: 0.2084094136953354 -> 0.11256057769060135
    (... 1449 more)

  controlsState.lateralControlState.torqueState.p (1521 diffs)
    frame 78: -0.16438323259353638 -> 0.18057377636432648
    frame 79: -0.15141461789608002 -> 0.19350022077560425
    frame 80: -0.15140420198440552 -> 0.16722488403320312
    frame 81: -0.15139402449131012 -> 0.14102143049240112
    frame 82: -0.1513880491256714 -> 0.11491580307483673
    frame 83: -0.3338645398616791 -> 0.09869452565908432
    frame 84: -0.3398245573043823 -> 0.08573883026838303
    frame 85: -0.33985745906829834 -> 0.05978139862418175
    frame 86: -0.33988410234451294 -> 0.033812861889600754
    frame 87: -0.2890945374965668 -> -0.00515528442338109
    (... 1511 more)

HYUNDAI2 - regenAFB9780D823|2025-04-08--23-00-34--0 [controlsd]

  carControl.actuators.torque (3275 diffs)
    frame 98: 0.02610655128955841 -> -0.012614172883331776
    frame 99: 0.02732795663177967 -> -0.011454887688159943
    frame 100: 0.027173839509487152 -> -0.011609004810452461
    frame 101: 0.027018290013074875 -> -0.011693509295582771
    frame 102: 0.026891838759183884 -> -0.01642935536801815
    frame 103: 0.05153783783316612 -> -0.009568911977112293
    frame 104: 0.04735641926527023 -> -0.013797387480735779
    frame 105: 0.0471801720559597 -> -0.01397363469004631
    frame 106: 0.05157087370753288 -> -0.009570199996232986
    frame 107: 0.051413629204034805 -> -0.009657277725636959
    (... 3265 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (2887 diffs)
    frame 98: 0.0637693926692009 -> 0.10725369304418564
    frame 99: 0.0637434646487236 -> 0.10728596895933151
    frame 100: 0.0637434646487236 -> 0.10728596895933151
    frame 101: 0.06378304958343506 -> 0.10726342350244522
    frame 102: 0.06375424563884735 -> 0.11240013688802719
    frame 103: 0.04414580389857292 -> 0.11272137612104416
    frame 104: 0.044098932296037674 -> 0.11267967522144318
    frame 105: 0.044098932296037674 -> 0.11267967522144318
    frame 106: 0.04406335577368736 -> 0.11259369552135468
    frame 107: 0.04409857839345932 -> 0.11258596926927567
    (... 2877 more)

  controlsState.lateralControlState.torqueState.error (2887 diffs)
    frame 98: -0.0494581013917923 -> -0.0059738000854849815
    frame 99: -0.0494435615837574 -> -0.005901061464101076
    frame 100: -0.0494435615837574 -> -0.005901061464101076
    frame 101: -0.049465760588645935 -> -0.005985385272651911
    frame 102: -0.0494496114552021 -> -0.0008037214865908027
    frame 103: -0.06932103633880615 -> -0.0007454660953953862
    frame 104: -0.06415634602308273 -> 0.004424404352903366
    frame 105: -0.06415634602308273 -> 0.004424404352903366
    frame 106: -0.06921715289354324 -> -0.0006868159980513155
    frame 107: -0.06926154345273972 -> -0.0007741505396552384
    (... 2877 more)

  controlsState.lateralControlState.torqueState.f (51 diffs)
    frame 909: 0.433148056268692 -> 0.4226691424846649
    frame 911: 0.43010491132736206 -> 0.4196462631225586
    frame 912: 0.42331263422966003 -> 0.4130007028579712
    frame 913: 0.4932467043399811 -> 0.4813322126865387
    frame 914: 0.5271608233451843 -> 0.5127682089805603
    frame 915: 0.5276820063591003 -> 0.5132893919944763
    frame 916: 0.5226836800575256 -> 0.5081937909126282
    frame 917: 0.5184629559516907 -> 0.503917932510376
    frame 918: 0.5936499834060669 -> 0.579092264175415
    frame 919: 0.641213595867157 -> 0.6273036599159241
    (... 41 more)

  controlsState.lateralControlState.torqueState.output (3275 diffs)
    frame 98: 0.02610655128955841 -> -0.012614172883331776
    frame 99: 0.02732795663177967 -> -0.011454887688159943
    frame 100: 0.027173839509487152 -> -0.011609004810452461
    frame 101: 0.027018290013074875 -> -0.011693509295582771
    frame 102: 0.026891838759183884 -> -0.01642935536801815
    frame 103: 0.05153783783316612 -> -0.009568911977112293
    frame 104: 0.04735641926527023 -> -0.013797387480735779
    frame 105: 0.0471801720559597 -> -0.01397363469004631
    frame 106: 0.05157087370753288 -> -0.009570199996232986
    frame 107: 0.051413629204034805 -> -0.009657277725636959
    (... 3265 more)

  controlsState.lateralControlState.torqueState.p (3829 diffs)
    frame 98: -0.1368975192308426 -> -0.01653517596423626
    frame 99: -0.13689479231834412 -> -0.016338316723704338
    frame 100: -0.13689479231834412 -> -0.016338316723704338
    frame 101: -0.1368989497423172 -> -0.016564851626753807
    frame 102: -0.13689593970775604 -> -0.0022250167094171047
    frame 103: -0.19205565750598907 -> -0.0020653323736041784
    frame 104: -0.17787382006645203 -> 0.012266685254871845
    frame 105: -0.17787382006645203 -> 0.012266685254871845
    frame 106: -0.19200901687145233 -> -0.001905233832076192
    frame 107: -0.19202902913093567 -> -0.002146348124369979
    (... 3819 more)

TOYOTA - regen218A4DCFAA1|2025-04-08--22-57-51--0 [controlsd]

  carControl.actuators.torque (1103 diffs)
    frame 4564: 0.2109355926513672 -> 0.14423568546772003
    frame 4565: 0.3158864974975586 -> 0.21985189616680145
    frame 4566: 0.31589123606681824 -> 0.2345152348279953
    frame 4567: 0.3158951699733734 -> 0.22652409970760345
    frame 4568: 0.363109827041626 -> 0.2754773497581482
    frame 4569: 0.3631093204021454 -> 0.29734691977500916
    frame 4570: 0.363108366727829 -> 0.2881912589073181
    frame 4571: 0.36310875415802 -> 0.2781054675579071
    frame 4572: 0.36310717463493347 -> 0.26867756247520447
    frame 4573: 0.38757428526878357 -> 0.2892622649669647
    (... 1093 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (1151 diffs)
    frame 4564: 0.00853514764457941 -> 0.05947405472397804
    frame 4565: -0.018627099692821503 -> 0.059469543397426605
    frame 4566: -0.018621696159243584 -> 0.059467654675245285
    frame 4567: -0.018617166206240654 -> 0.05945320799946785
    frame 4568: -0.05980078876018524 -> 0.059329260140657425
    frame 4569: -0.059790804982185364 -> 0.0593084916472435
    frame 4570: -0.05977211147546768 -> 0.0592980831861496
    frame 4571: -0.059779778122901917 -> 0.05928920954465866
    frame 4572: -0.05974891036748886 -> 0.05927227437496185
    frame 4573: -0.08234798908233643 -> 0.05855127424001694
    (... 1141 more)

  controlsState.lateralControlState.torqueState.error (1151 diffs)
    frame 4564: -0.05000726133584976 -> 0.0009316446376033127
    frame 4565: -0.07716374844312668 -> 0.0009328948799520731
    frame 4566: -0.07714901119470596 -> 0.0009403433068655431
    frame 4567: -0.07713665068149567 -> 0.0009337246301583946
    frame 4568: -0.11691136658191681 -> 0.0022186804562807083
    frame 4569: -0.1168961375951767 -> 0.002203154843300581
    frame 4570: -0.11686762422323227 -> 0.0022025667130947113
    frame 4571: -0.11687932163476944 -> 0.0021896660327911377
    frame 4572: -0.11683223396539688 -> 0.0021889526396989822
    frame 4573: -0.13738574087619781 -> 0.0035135201178491116
    (... 1141 more)

  controlsState.lateralControlState.torqueState.f (761 diffs)
    frame 4564: -0.29334375262260437 -> -0.23159968852996826
    frame 4565: -0.437312513589859 -> -0.35258692502975464
    frame 4566: -0.43730708956718445 -> -0.37605515122413635
    frame 4567: -0.4373025596141815 -> -0.3632637560367584
    frame 4568: -0.4777114689350128 -> -0.44272345304489136
    frame 4570: -0.47768276929855347 -> -0.4630526900291443
    frame 4571: -0.4776904582977295 -> -0.44690367579460144
    frame 4572: -0.47765958309173584 -> -0.43181973695755005
    frame 4573: -0.49857279658317566 -> -0.4659275710582733
    frame 4621: -0.5652251839637756 -> -0.550042986869812
    (... 751 more)

  controlsState.lateralControlState.torqueState.output (1103 diffs)
    frame 4564: 0.2109355926513672 -> 0.14423568546772003
    frame 4565: 0.3158864974975586 -> 0.21985189616680145
    frame 4566: 0.31589123606681824 -> 0.2345152348279953
    frame 4567: 0.3158951699733734 -> 0.22652409970760345
    frame 4568: 0.363109827041626 -> 0.2754773497581482
    frame 4569: 0.3631093204021454 -> 0.29734691977500916
    frame 4570: 0.363108366727829 -> 0.2881912589073181
    frame 4571: 0.36310875415802 -> 0.2781054675579071
    frame 4572: 0.36310717463493347 -> 0.26867756247520447
    frame 4573: 0.38757428526878357 -> 0.2892622649669647
    (... 1093 more)

  controlsState.lateralControlState.torqueState.p (1099 diffs)
    frame 4564: -0.04407818615436554 -> 0.0008211848326027393
    frame 4565: -0.06803089380264282 -> 0.0008224804187193513
    frame 4566: -0.06804385036230087 -> 0.0008293635328300297
    frame 4567: -0.06805469840765 -> 0.0008237892761826515
    frame 4568: -0.10318926721811295 -> 0.0019582698587328196
    frame 4569: -0.10319843888282776 -> 0.0019449928076937795
    frame 4570: -0.10321560502052307 -> 0.0019452715059742332
    frame 4571: -0.10320856422185898 -> 0.001933552324771881
    frame 4572: -0.10323688387870789 -> 0.0019342320738360286
    frame 4573: -0.12147103995084763 -> 0.003106515621766448
    (... 1089 more)

TOYOTA3 - regen1455E3B4BDF|2025-04-09--03-26-06--0 [controlsd]

  carControl.actuators.torque (4935 diffs)
    frame 125: 0.14900274574756622 -> 0.10074000060558319
    frame 126: 0.2849695384502411 -> 0.20925691723823547
    frame 127: 0.3366132378578186 -> 0.26789888739585876
    frame 128: 0.38821813464164734 -> 0.2965811789035797
    frame 129: 0.4398458003997803 -> 0.32527410984039307
    frame 130: 0.4822544753551483 -> 0.34946390986442566
    frame 131: 0.5336923003196716 -> 0.3731352984905243
    frame 132: 0.5519857406616211 -> 0.38328486680984497
    frame 133: 0.5473190546035767 -> 0.3785073459148407
    frame 134: 0.5534428358078003 -> 0.38189664483070374
    (... 4925 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (4748 diffs)
    frame 125: -0.4722242057323456 -> -0.43322375416755676
    frame 126: -0.5223474502563477 -> -0.43327343463897705
    frame 127: -0.5724074244499207 -> -0.4226495921611786
    frame 128: -0.6224226355552673 -> -0.4226823151111603
    frame 129: -0.6724629998207092 -> -0.4227136969566345
    frame 130: -0.7225145697593689 -> -0.4330391585826874
    frame 131: -0.772346556186676 -> -0.4223267138004303
    frame 132: -0.7901079058647156 -> -0.42233040928840637
    frame 133: -0.7903822660446167 -> -0.4223631024360657
    frame 134: -0.7963245511054993 -> -0.422342985868454
    (... 4738 more)

  controlsState.lateralControlState.torqueState.error (4762 diffs)
    frame 125: -0.05437188595533371 -> -0.015371451154351234
    frame 126: -0.10443899780511856 -> -0.015364978462457657
    frame 127: -0.15447264909744263 -> -0.004714826587587595
    frame 128: -0.20447759330272675 -> -0.0047372919507324696
    frame 129: -0.25450074672698975 -> -0.004751472268253565
    frame 130: -0.2981596887111664 -> -0.008684271015226841
    frame 131: -0.3480294346809387 -> 0.001990413060411811
    frame 132: -0.3657163977622986 -> 0.002061085309833288
    frame 133: -0.3551977276802063 -> 0.012821434065699577
    frame 134: -0.36112266778945923 -> 0.012858892790973186
    (... 4752 more)

  controlsState.lateralControlState.torqueState.f (4173 diffs)
    frame 125: -0.21634012460708618 -> -0.16340982913970947
    frame 126: -0.41346582770347595 -> -0.3527110815048218
    frame 195: -0.8991057276725769 -> -0.9343773722648621
    frame 196: -0.8975718021392822 -> -0.9346910119056702
    frame 197: -0.8528090119361877 -> -0.9100849032402039
    frame 198: -0.8513407707214355 -> -0.9083412885665894
    frame 199: -0.9027850031852722 -> -0.864346444606781
    frame 200: -0.9512118101119995 -> -0.912933886051178
    frame 201: -0.8989749550819397 -> -0.8612368106842041
    frame 202: -0.8910126686096191 -> -0.8534640073776245
    (... 4163 more)

  controlsState.lateralControlState.torqueState.i (5 diffs)
    frame 4960: -0.018525993451476097 -> -0.008469413965940475
    frame 4961: -0.018525993451476097 -> -0.008469413965940475
    frame 4962: -0.018525993451476097 -> -0.008469413965940475
    frame 4963: -0.018525993451476097 -> -0.008469413965940475
    frame 4964: -0.018525993451476097 -> -0.008469413965940475

  controlsState.lateralControlState.torqueState.output (4935 diffs)
    frame 125: 0.14900274574756622 -> 0.10074000060558319
    frame 126: 0.2849695384502411 -> 0.20925691723823547
    frame 127: 0.3366132378578186 -> 0.26789888739585876
    frame 128: 0.38821813464164734 -> 0.2965811789035797
    frame 129: 0.4398458003997803 -> 0.32527410984039307
    frame 130: 0.4822544753551483 -> 0.34946390986442566
    frame 131: 0.5336923003196716 -> 0.3731352984905243
    frame 132: 0.5519857406616211 -> 0.38328486680984497
    frame 133: 0.5473190546035767 -> 0.3785073459148407
    frame 134: 0.5534428358078003 -> 0.38189664483070374
    (... 4925 more)

  controlsState.lateralControlState.torqueState.p (4583 diffs)
    frame 125: -0.04349751025438309 -> -0.012297160923480988
    frame 126: -0.08355119824409485 -> -0.012291982769966125
    frame 127: -0.12357811629772186 -> -0.0037718613166362047
    frame 128: -0.16358207166194916 -> -0.003789833514019847
    frame 129: -0.20360060036182404 -> -0.0038011777214705944
    frame 130: -0.23852774500846863 -> -0.006947416812181473
    frame 131: -0.278423547744751 -> 0.00159233040176332
    frame 132: -0.29257312417030334 -> 0.0016488682013005018
    frame 133: -0.2841581702232361 -> 0.010257147252559662
    frame 134: -0.28889814019203186 -> 0.010287114419043064
    (... 4573 more)

RAM - regenBF81EA96E08|2025-04-08--23-06-54--0 [controlsd]

  carControl.actuators.torque (1643 diffs)
    frame 125: -0.1485612392425537 -> -0.09900762140750885
    frame 126: -0.22821760177612305 -> -0.15139512717723846
    frame 127: -0.28549396991729736 -> -0.18681563436985016
    frame 128: -0.3427638113498688 -> -0.21186329424381256
    frame 129: -0.4000638425350189 -> -0.23693408071994781
    frame 130: -0.4260692000389099 -> -0.24766536056995392
    frame 131: -0.4261515438556671 -> -0.24932867288589478
    frame 132: -0.426218718290329 -> -0.24938683211803436
    frame 133: -0.42634132504463196 -> -0.24948498606681824
    frame 134: -0.42644593119621277 -> -0.24956929683685303
    (... 1633 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (1658 diffs)
    frame 125: 0.19595462083816528 -> 0.1406274437904358
    frame 126: 0.24603314697742462 -> 0.14302703738212585
    frame 127: 0.2961083650588989 -> 0.1430785208940506
    frame 128: 0.34618228673934937 -> 0.14312385022640228
    frame 129: 0.3963165879249573 -> 0.14317414164543152
    frame 130: 0.4201354682445526 -> 0.14321792125701904
    frame 131: 0.4202617108821869 -> 0.14573751389980316
    frame 132: 0.4203646779060364 -> 0.14577655494213104
    frame 133: 0.42055273056030273 -> 0.14583535492420197
    frame 134: 0.4207131862640381 -> 0.1458864063024521
    (... 1648 more)

  controlsState.lateralControlState.torqueState.error (1658 diffs)
    frame 125: 0.04843640327453613 -> -0.006890783552080393
    frame 126: 0.09846750646829605 -> -0.004538606386631727
    frame 127: 0.1485065370798111 -> -0.004523312672972679
    frame 128: 0.19855089485645294 -> -0.0045075383968651295
    frame 129: 0.24863925576210022 -> -0.004503176081925631
    frame 130: 0.27050477266311646 -> -0.006412799935787916
    frame 131: 0.27059492468833923 -> -0.003929258324205875
    frame 132: 0.27066850662231445 -> -0.0039196135476231575
    frame 133: 0.2708028554916382 -> -0.003914509434252977
    frame 134: 0.27091750502586365 -> -0.003909273538738489
    (... 1648 more)

  controlsState.lateralControlState.torqueState.f (905 diffs)
    frame 125: 0.23457686603069305 -> 0.2069132775068283
    frame 126: 0.3293974697589874 -> 0.30865272879600525
    frame 154: 0.40517958998680115 -> 0.43501928448677063
    frame 155: 0.32839933037757874 -> 0.3953683376312256
    frame 156: 0.3173696994781494 -> 0.38437020778656006
    frame 157: 0.322063684463501 -> 0.38906505703926086
    frame 158: 0.3264399468898773 -> 0.3934401869773865
    frame 159: 0.41464823484420776 -> 0.45547935366630554
    frame 160: 0.4448070228099823 -> 0.46293315291404724
    frame 161: 0.44564151763916016 -> 0.4631403386592865
    (... 895 more)

  controlsState.lateralControlState.torqueState.output (1643 diffs)
    frame 125: -0.1485612392425537 -> -0.09900762140750885
    frame 126: -0.22821760177612305 -> -0.15139512717723846
    frame 127: -0.28549396991729736 -> -0.18681563436985016
    frame 128: -0.3427638113498688 -> -0.21186329424381256
    frame 129: -0.4000638425350189 -> -0.23693408071994781
    frame 130: -0.4260692000389099 -> -0.24766536056995392
    frame 131: -0.4261515438556671 -> -0.24932867288589478
    frame 132: -0.426218718290329 -> -0.24938683211803436
    frame 133: -0.42634132504463196 -> -0.24948498606681824
    frame 134: -0.42644593119621277 -> -0.24956929683685303
    (... 1633 more)

  controlsState.lateralControlState.torqueState.p (1810 diffs)
    frame 125: 0.06247296929359436 -> -0.00888768956065178
    frame 126: 0.12696509063243866 -> -0.005852128844708204
    frame 127: 0.1914425939321518 -> -0.005831087939441204
    frame 128: 0.25590837001800537 -> -0.005809678230434656
    frame 129: 0.32037413120269775 -> -0.005802386440336704
    frame 130: 0.348463773727417 -> -0.008260957896709442
    frame 131: 0.34850218892097473 -> -0.00506053538993001
    frame 132: 0.348533570766449 -> -0.005047195591032505
    frame 133: 0.3485907316207886 -> -0.005038948729634285
    frame 134: 0.34863948822021484 -> -0.0050307828933000565
    (... 1800 more)

SUBARU - regen7366F13F6A1|2025-04-08--23-07-07--0 [controlsd]

  carControl.actuators.torque (4932 diffs)
    frame 75: -0.008043806068599224 -> 0.10767826437950134
    frame 76: -0.06185571104288101 -> -0.00874596368521452
    frame 77: -0.10257836431264877 -> -0.029405510053038597
    frame 78: -0.1475890874862671 -> -0.05440885201096535
    frame 79: -0.19045111536979675 -> -0.07723616063594818
    frame 80: -0.22213195264339447 -> -0.10202774405479431
    frame 81: -0.2671317458152771 -> -0.1270378679037094
    frame 82: -0.2879786193370819 -> -0.13862955570220947
    frame 83: -0.2815483510494232 -> -0.13219089806079865
    frame 84: -0.29482531547546387 -> -0.13956202566623688
    (... 4922 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (4971 diffs)
    frame 75: -0.33641108870506287 -> -0.4190254509449005
    frame 76: -0.28650856018066406 -> -0.4189942479133606
    frame 77: -0.2364862710237503 -> -0.4189949333667755
    frame 78: -0.1864667683839798 -> -0.41899389028549194
    frame 79: -0.13645094633102417 -> -0.41906487941741943
    frame 80: -0.08643925189971924 -> -0.38627633452415466
    frame 81: -0.03645008057355881 -> -0.38626134395599365
    frame 82: -0.013296255841851234 -> -0.3862454295158386
    frame 83: -0.013297541067004204 -> -0.38626769185066223
    frame 84: 0.0014479839010164142 -> -0.38628682494163513
    (... 4961 more)

  controlsState.lateralControlState.torqueState.error (4971 diffs)
    frame 75: 0.02139650285243988 -> -0.061217859387397766
    frame 76: 0.07136082649230957 -> -0.06112484261393547
    frame 77: 0.11063957214355469 -> -0.07186909765005112
    frame 78: 0.16064201295375824 -> -0.0718851238489151
    frame 79: 0.20527732372283936 -> -0.0773366242647171
    frame 80: 0.23279479146003723 -> -0.067042276263237
    frame 81: 0.2828078269958496 -> -0.06700344383716583
    frame 82: 0.30598267912864685 -> -0.06696648895740509
    frame 83: 0.28990861773490906 -> -0.08306154608726501
    frame 84: 0.30466917157173157 -> -0.08306562900543213
    (... 4961 more)

  controlsState.lateralControlState.torqueState.f (4161 diffs)
    frame 75: -0.0010616844519972801 -> -0.16629041731357574
    frame 125: 0.2705577611923218 -> 0.24342240393161774
    frame 126: 0.25971686840057373 -> 0.232575461268425
    frame 127: 0.23881939053535461 -> 0.2117171734571457
    frame 128: 0.22937293350696564 -> 0.20230703055858612
    frame 129: 0.23648208379745483 -> 0.27379778027534485
    frame 130: 0.2295105904340744 -> 0.2667957544326782
    frame 131: 0.18713536858558655 -> 0.2243594080209732
    frame 132: 0.17777346074581146 -> 0.21494047343730927
    frame 133: 0.1689285784959793 -> 0.20614446699619293
    (... 4151 more)

  controlsState.lateralControlState.torqueState.i (1141 diffs)
    frame 3169: -0.021671805530786514 -> -0.03174493461847305
    frame 3170: -0.021671805530786514 -> -0.03174493461847305
    frame 3171: -0.021671805530786514 -> -0.03174493461847305
    frame 3172: -0.021671805530786514 -> -0.03174493461847305
    frame 3173: -0.021671805530786514 -> -0.03174493461847305
    frame 3174: -0.021671805530786514 -> -0.03199620917439461
    frame 3175: -0.021671805530786514 -> -0.03229237720370293
    frame 3176: -0.021671805530786514 -> -0.03258855268359184
    frame 3177: -0.021671805530786514 -> -0.03258855268359184
    frame 3178: -0.021671805530786514 -> -0.03258855268359184
    (... 1131 more)

  controlsState.lateralControlState.torqueState.output (4932 diffs)
    frame 75: -0.008043806068599224 -> 0.10767826437950134
    frame 76: -0.06185571104288101 -> -0.00874596368521452
    frame 77: -0.10257836431264877 -> -0.029405510053038597
    frame 78: -0.1475890874862671 -> -0.05440885201096535
    frame 79: -0.19045111536979675 -> -0.07723616063594818
    frame 80: -0.22213195264339447 -> -0.10202774405479431
    frame 81: -0.2671317458152771 -> -0.1270378679037094
    frame 82: -0.2879786193370819 -> -0.13862955570220947
    frame 83: -0.2815483510494232 -> -0.13219089806079865
    frame 84: -0.29482531547546387 -> -0.13956202566623688
    (... 4922 more)

  controlsState.lateralControlState.torqueState.p (4758 diffs)
    frame 75: 0.017117202281951904 -> -0.04897428676486015
    frame 76: 0.057088661938905716 -> -0.048899874091148376
    frame 77: 0.08851166069507599 -> -0.057495277374982834
    frame 78: 0.12851360440254211 -> -0.05750809982419014
    frame 79: 0.164221853017807 -> -0.0618693009018898
    frame 80: 0.18623583018779755 -> -0.05363382026553154
    frame 81: 0.22624626755714417 -> -0.053602755069732666
    frame 82: 0.24478614330291748 -> -0.05357319116592407
    frame 83: 0.23192688822746277 -> -0.06644923985004425
    frame 84: 0.24373534321784973 -> -0.0664525032043457
    (... 4748 more)

GM - regen1271097D038|2025-04-09--03-26-00--0 [controlsd]

  carControl.actuators.torque (3737 diffs)
    frame 74: 0.52772057056427 -> 0.29230085015296936
    frame 75: 0.594356119632721 -> 0.3225199580192566
    frame 76: 0.5933877825737 -> 0.32260990142822266
    frame 77: 0.5890100598335266 -> 0.3163363039493561
    frame 78: 0.6268610954284668 -> 0.32271283864974976
    frame 79: 0.6287930011749268 -> 0.32740041613578796
    frame 80: 0.6259803771972656 -> 0.3228691816329956
    frame 81: 0.595203161239624 -> 0.2649756669998169
    frame 82: 0.5784239768981934 -> 0.23510900139808655
    frame 83: 0.5649559497833252 -> 0.2185555249452591
    (... 3727 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (3848 diffs)
    frame 74: -0.23639942705631256 -> -0.1988113522529602
    frame 75: -0.24473878741264343 -> -0.19639937579631805
    frame 76: -0.24257372319698334 -> -0.19474993646144867
    frame 77: -0.24072545766830444 -> -0.1933429092168808
    frame 78: -0.24800708889961243 -> -0.1921621561050415
    frame 79: -0.2466801553964615 -> -0.1911303550004959
    frame 80: -0.24561239778995514 -> -0.19035017490386963
    frame 81: -0.24345871806144714 -> -0.18884387612342834
    frame 82: -0.24162641167640686 -> -0.18756769597530365
    frame 83: -0.24009321630001068 -> -0.18728654086589813
    (... 3838 more)

  controlsState.lateralControlState.torqueState.error (3902 diffs)
    frame 74: -0.05004553869366646 -> -0.012457453645765781
    frame 75: -0.059073880314826965 -> -0.010734481737017632
    frame 76: -0.05851870775222778 -> -0.010694915428757668
    frame 77: -0.05804521590471268 -> -0.010662677697837353
    frame 78: -0.06648214161396027 -> -0.010637199506163597
    frame 79: -0.06619379669427872 -> -0.010644005611538887
    frame 80: -0.06589213758707047 -> -0.010629910975694656
    frame 81: -0.05858995020389557 -> -0.003975118976086378
    frame 82: -0.05516925826668739 -> -0.0011105507146567106
    frame 83: -0.052595656365156174 -> 0.00021101991296745837
    (... 3892 more)

  controlsState.lateralControlState.torqueState.f (2359 diffs)
    frame 74: -0.28390488028526306 -> -0.251015305519104
    frame 75: -0.3531224727630615 -> -0.31082549691200256
    frame 76: -0.352548748254776 -> -0.310702919960022
    frame 77: -0.34284278750419617 -> -0.3013830780982971
    frame 78: -0.35927826166152954 -> -0.3104139268398285
    frame 79: -0.36541399359703064 -> -0.31680792570114136
    frame 80: -0.35837695002555847 -> -0.3100225031375885
    frame 81: -0.3437677323818207 -> -0.295979768037796
    frame 82: -0.3325979709625244 -> -0.28529658913612366
    frame 83: -0.32348430156707764 -> -0.27727848291397095
    (... 2349 more)

  controlsState.lateralControlState.torqueState.output (3737 diffs)
    frame 74: 0.52772057056427 -> 0.29230085015296936
    frame 75: 0.594356119632721 -> 0.3225199580192566
    frame 76: 0.5933877825737 -> 0.32260990142822266
    frame 77: 0.5890100598335266 -> 0.3163363039493561
    frame 78: 0.6268610954284668 -> 0.32271283864974976
    frame 79: 0.6287930011749268 -> 0.32740041613578796
    frame 80: 0.6259803771972656 -> 0.3228691816329956
    frame 81: 0.595203161239624 -> 0.2649756669998169
    frame 82: 0.5784239768981934 -> 0.23510900139808655
    frame 83: 0.5649559497833252 -> 0.2185555249452591
    (... 3727 more)

  controlsState.lateralControlState.torqueState.p (4626 diffs)
    frame 74: -0.49412888288497925 -> -0.12299972772598267
    frame 75: -0.5847908854484558 -> -0.10626400262117386
    frame 76: -0.5828232765197754 -> -0.10651714354753494
    frame 77: -0.5811074376106262 -> -0.10674715787172318
    frame 78: -0.6684688329696655 -> -0.10695558041334152
    frame 79: -0.6679536700248718 -> -0.10740738362073898
    frame 80: -0.6668239235877991 -> -0.1075739711523056
    frame 81: -0.5963708758354187 -> -0.04046163707971573
    frame 82: -0.5643234252929688 -> -0.011359764263033867
    frame 83: -0.5402162075042725 -> 0.0021674104500561953
    (... 4616 more)

MAZDA - regenACF84CCF482|2024-08-30--03-21-55--0 [controlsd]

  carControl.actuators.torque (427 diffs)
    frame 104: 0.3574327826499939 -> 0.2949398159980774
    frame 105: 0.5626302361488342 -> 0.4176327586174011
    frame 106: 0.6394748091697693 -> 0.5335643887519836
    frame 107: 0.7062562704086304 -> 0.5624663233757019
    frame 108: 0.7288190126419067 -> 0.5466989278793335
    frame 109: 0.7955805063247681 -> 0.5751780867576599
    frame 110: 0.8623901605606079 -> 0.6037420630455017
    frame 111: 0.9291301965713501 -> 0.6322219371795654
    frame 112: 1.0 -> 0.6606782674789429
    frame 113: 1.0 -> 0.6891705989837646
    (... 417 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (1694 diffs)
    frame 104: -0.5120298266410828 -> -0.4741591215133667
    frame 105: -0.5620318055152893 -> -0.474137544631958
    frame 106: -0.6120654344558716 -> -0.4740470051765442
    frame 107: -0.6623252630233765 -> -0.47400516271591187
    frame 108: -0.712594211101532 -> -0.4739954173564911
    frame 109: -0.762854278087616 -> -0.474019318819046
    frame 110: -0.8131891489028931 -> -0.47412344813346863
    frame 111: -0.8634470105171204 -> -0.47413384914398193
    frame 112: -0.9136309623718262 -> -0.46195629239082336
    frame 113: -0.9638793468475342 -> -0.46197259426116943
    (... 1684 more)

  controlsState.lateralControlState.torqueState.error (1716 diffs)
    frame 104: -0.05001680552959442 -> -0.01214613951742649
    frame 105: -0.10001754015684128 -> -0.012123266234993935
    frame 106: -0.1500316560268402 -> -0.012013208121061325
    frame 107: -0.20015296339988708 -> -0.011832880787551403
    frame 108: -0.22895270586013794 -> 0.009646094404160976
    frame 109: -0.2790881395339966 -> 0.009746790863573551
    frame 110: -0.32927313446998596 -> 0.009792562574148178
    frame 111: -0.37942269444465637 -> 0.009890466928482056
    frame 112: -0.4417112469673157 -> 0.009963450953364372
    frame 113: -0.49186909198760986 -> 0.010037679225206375
    (... 1706 more)

  controlsState.lateralControlState.torqueState.f (179 diffs)
    frame 104: -0.561838686466217 -> -0.5027997493743896
    frame 105: -0.8558146357536316 -> -0.7187907695770264
    frame 417: -1.0687384605407715 -> -1.1814788579940796
    frame 418: -0.98163902759552 -> -1.1490814685821533
    frame 419: -0.8482612371444702 -> -1.0992188453674316
    frame 420: -0.6950365900993347 -> -1.0492701530456543
    frame 421: -0.5812336802482605 -> -0.9992913603782654
    frame 422: -0.4462815225124359 -> -0.9488750696182251
    frame 423: -0.31610456109046936 -> -0.9152354001998901
    frame 424: -0.24170078337192535 -> -0.8652859330177307
    (... 169 more)

  controlsState.lateralControlState.torqueState.output (427 diffs)
    frame 104: 0.3574327826499939 -> 0.2949398159980774
    frame 105: 0.5626302361488342 -> 0.4176327586174011
    frame 106: 0.6394748091697693 -> 0.5335643887519836
    frame 107: 0.7062562704086304 -> 0.5624663233757019
    frame 108: 0.7288190126419067 -> 0.5466989278793335
    frame 109: 0.7955805063247681 -> 0.5751780867576599
    frame 110: 0.8623901605606079 -> 0.6037420630455017
    frame 111: 0.9291301965713501 -> 0.6322219371795654
    frame 112: 1.0 -> 0.6606782674789429
    frame 113: 1.0 -> 0.6891705989837646
    (... 417 more)

  controlsState.lateralControlState.torqueState.p (1716 diffs)
    frame 104: -0.06722812354564667 -> -0.016325756907463074
    frame 105: -0.1344342827796936 -> -0.016294967383146286
    frame 106: -0.20165027678012848 -> -0.016146371141076088
    frame 107: -0.2689370810985565 -> -0.01589934155344963
    frame 108: -0.30754777789115906 -> 0.01295741368085146
    frame 109: -0.3747991919517517 -> 0.01308937557041645
    frame 110: -0.44206053018569946 -> 0.01314685307443142
    frame 111: -0.5092763304710388 -> 0.013275380246341228
    frame 112: -0.5927950739860535 -> 0.013371370732784271
    frame 113: -0.659984827041626 -> 0.013468452729284763
    (... 1706 more)

  controlsState.lateralControlState.torqueState.saturated (53 diffs)

  frames 420-436
  master:   ‾‾‾‾‾\___________
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾\____
            fall: PR lags by 7 frames (69ms)

  frames 604-618
  master:   _____/‾‾‾‾‾‾‾‾‾
  PR:       __________/‾‾‾‾
            rise: PR lags by 5 frames (49ms)

  frames 871-885
  master:   ‾‾‾‾‾\_________
  PR:       ‾‾‾‾‾‾‾‾‾‾\____
            fall: PR lags by 5 frames (49ms)

  frames 1285-1301
  master:   ____________/‾‾‾‾
  PR:       _____/‾‾‾‾‾‾‾‾‾‾‾
            rise: PR leads by 7 frames (69ms)

  frames 1576-1590
  master:   ‾‾‾‾‾\_________
  PR:       ‾‾‾‾‾‾‾‾‾‾\____
            fall: PR lags by 5 frames (49ms)

  frames 2056-2071
  master:   _____/‾‾‾‾‾‾‾‾‾‾
  PR:       ___________/‾‾‾‾
            rise: PR lags by 6 frames (59ms)

  frames 2151-2166
  master:   ‾‾‾‾‾\__________
  PR:       ‾‾‾‾‾‾‾‾‾‾‾\____
            fall: PR lags by 6 frames (59ms)

  frames 4380-4395
  master:   ‾‾‾‾‾\__________
  PR:       ‾‾‾‾‾‾‾‾‾‾‾\____
            fall: PR lags by 6 frames (59ms)

  frames 4878-4893
  master:   _____/‾‾‾‾‾‾‾‾‾‾
  PR:       ___________/‾‾‾‾
            rise: PR lags by 6 frames (59ms)

RIVIAN - regen5FCAC896BBE|2025-04-08--23-13-35--0 [controlsd]

  carControl.actuators.torque (3855 diffs)
    frame 100: -0.21647021174430847 -> -0.24508480727672577
    frame 101: -0.1371704787015915 -> -0.1916099488735199
    frame 102: -0.13395413756370544 -> -0.17367811501026154
    frame 103: -0.13393309712409973 -> -0.17696361243724823
    frame 104: -0.15150012075901031 -> -0.2003391981124878
    frame 105: -0.1679617017507553 -> -0.2219506949186325
    frame 106: -0.15673033893108368 -> -0.21047627925872803
    frame 107: -0.1586373746395111 -> -0.21291832625865936
    frame 108: -0.16067460179328918 -> -0.2151820808649063
    frame 109: -0.1722339540719986 -> -0.21536986529827118
    (... 3845 more)

  controlsState.lateralControlState.torqueState.desiredLateralAccel (4251 diffs)
    frame 100: 0.701859176158905 -> 0.7439683079719543
    frame 101: 0.6517928242683411 -> 0.7647375464439392
    frame 102: 0.6470905542373657 -> 0.7647556066513062
    frame 103: 0.6470474600791931 -> 0.7647778987884521
    frame 104: 0.6726766228675842 -> 0.7648934125900269
    frame 105: 0.672774076461792 -> 0.7522560954093933
    frame 106: 0.6724791526794434 -> 0.7521644830703735
    frame 107: 0.6722096800804138 -> 0.7520815134048462
    frame 108: 0.6718292236328125 -> 0.7520073652267456
    frame 109: 0.6885170340538025 -> 0.7519417405128479
    (... 4241 more)

  controlsState.lateralControlState.torqueState.error (4447 diffs)
    frame 100: -0.03510323539376259 -> 0.007005914580076933
    frame 101: -0.10609918087720871 -> 0.006845569238066673
    frame 102: -0.11075932532548904 -> 0.006905705202370882
    frame 103: -0.1107674092054367 -> 0.006962992250919342
    frame 104: -0.08521692454814911 -> 0.006999898236244917
    frame 105: -0.07168825715780258 -> 0.007793760858476162
    frame 106: -0.09273054450750351 -> -0.013045201078057289
    frame 107: -0.09278730303049088 -> -0.012915440835058689
    frame 108: -0.09286734461784363 -> -0.012689206749200821
    frame 109: -0.09686024487018585 -> -0.03343554213643074
    (... 4437 more)

  controlsState.lateralControlState.torqueState.f (2955 diffs)
    frame 100: 0.6385061740875244 -> 0.6797731518745422
    frame 101: 0.48187947273254395 -> 0.5301905274391174
    frame 103: 0.47713416814804077 -> 0.48907142877578735
    frame 104: 0.5027632713317871 -> 0.5544902682304382
    frame 105: 0.5363799333572388 -> 0.6142722964286804
    frame 106: 0.524361252784729 -> 0.601345956325531
    frame 107: 0.5297955870628357 -> 0.6080700159072876
    frame 108: 0.5356335043907166 -> 0.6142081022262573
    frame 109: 0.5717405080795288 -> 0.6338967084884644
    frame 110: 0.6341737508773804 -> 0.6470302939414978
    (... 2945 more)

  controlsState.lateralControlState.torqueState.i (475 diffs)
    frame 2072: -0.045882124453783035 -> -0.035594549030065536
    frame 2073: -0.0463707260787487 -> -0.035594549030065536
    frame 2074: -0.04678425192832947 -> -0.035594549030065536
    frame 2075: -0.04678425192832947 -> -0.035594549030065536
    frame 2076: -0.04678425192832947 -> -0.035594549030065536
    frame 2077: -0.04678425192832947 -> -0.035594549030065536
    frame 2078: -0.04678425192832947 -> -0.0361015684902668
    frame 2079: -0.04678425192832947 -> -0.0361015684902668
    frame 2080: -0.04678425192832947 -> -0.0361015684902668
    frame 2081: -0.04678425192832947 -> -0.0361015684902668
    (... 465 more)

  controlsState.lateralControlState.torqueState.output (3855 diffs)
    frame 100: -0.21647021174430847 -> -0.24508480727672577
    frame 101: -0.1371704787015915 -> -0.1916099488735199
    frame 102: -0.13395413756370544 -> -0.17367811501026154
    frame 103: -0.13393309712409973 -> -0.17696361243724823
    frame 104: -0.15150012075901031 -> -0.2003391981124878
    frame 105: -0.1679617017507553 -> -0.2219506949186325
    frame 106: -0.15673033893108368 -> -0.21047627925872803
    frame 107: -0.1586373746395111 -> -0.21291832625865936
    frame 108: -0.16067460179328918 -> -0.2151820808649063
    frame 109: -0.1722339540719986 -> -0.21536986529827118
    (... 3845 more)

  controlsState.lateralControlState.torqueState.p (4448 diffs)
    frame 100: -0.03233692795038223 -> 0.00645381398499012
    frame 101: -0.09774947166442871 -> 0.006306841969490051
    frame 102: -0.10205297917127609 -> 0.006362875457853079
    frame 103: -0.10206883400678635 -> 0.00641618762165308
    frame 104: -0.07851030677556992 -> 0.006449002306908369
    frame 105: -0.06603451818227768 -> 0.0071791005320847034
    frame 106: -0.08546361327171326 -> -0.012022899463772774
    frame 107: -0.08555828779935837 -> -0.01190920453518629
    frame 108: -0.08569195866584778 -> -0.011708777397871017
    frame 109: -0.08943278342485428 -> -0.03087162785232067
    (... 4438 more)

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@YassineYousfi