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        "carla_camera",
        "carla_camera",
        "carla_camera",
        "carla_camera",
        "carla_camera",
        "carla_camera",
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        "carla_camera",
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        "carla_camera",
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        "carla_camera",
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        "carla_camera",
        "carla_camera",
        "carla_camera",
        "carla_camera",
        "carla_camera",
        "carla_lidar",
        "carla_lidar",
        "carla_imu",
        "carla_gnss",
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        "Avg. infraction penalty",
        "Collisions with pedestrians",
        "Collisions with vehicles",
        "Collisions with layout",
        "Red lights infractions",
        "Stop sign infractions",
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        "Route deviations",
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}