The Donkey Gym server sends JSON telemetry messages every simulation frame. The default rate is 60 frames per second.
| Columns | Type | Description |
|---|---|---|
| steering_angle1 | continuous | ratio of current steering input to maximum steering input |
| throttle2 | continuous | ratio of turtent throttle input to maximum throttle input |
| speed | continuous | speed (meters per second) |
| image3 | string | camera output frame (base-64-encoded string) |
| hit | nominal | object with which the car is in contact |
| time | string | time since start of simulation (seconds) |
| accel_x3 | continuous | acceleration in the camera x axis (meters per seconds squared) |
| accel_y3 | continuous | acceleration in the camera y axis (meters per seconds squared) |
| accel_z3 | continuous | acceleration in the camera z axis (meters per seconds squared) |
| gyro_x3 | continuous | rotation around camera x axis (radians per second) |
| gyro_y3 | continuous | rotation around camera y axis (radians per second) |
| gyro_z3 | continuous | rotation around camera z axis (radians per second) |
| gyro_w3 | continuous | rotation around camera w axis (radians per second) |
| pitch | continuous | angle of lengthwise (front to back) tilt from horizontal (degrees) |
| yaw | continuous | compass heading (degrees) |
| roll | continuous | angle of widthwise (left to right) tilt from horizontal (degrees) |
| cte (cross track error) | continuous | distance from track-dependent center line (meters) |
| activeNode | ordinal | numbered label of current track segment |
| totalNodes4 | discrete | total number of track segments |
| pos_x | continuous | position from arbitrary origin on camera x axis (meters) |
| pos_y | continuous | position from arbitrary origin on camera y axis (meters) |
| pos_z | continuous | position from arbitrary origin on camera z axis (meters) |
| vel_x | continuous | instantaneous velocity on camera x axis (meters per second) |
| vel_y | continuous | instantaneous velocity on camera y axis (meters per second) |
| vel_z | continuous | instantaneous velocity on camera z axis (meters per second) |
| on_road5 | boolean | whether car is currently on track |
| progress_on_shortest_path5 | continuous | distance along specified shortest path (meters) |
| lap6 | ordinal | number of "collisions" with starting line |
1. -0.64 (full left) to 0.64 (full right)
2. -1.0 (full brake) to 1.0 (full forward throttle)
3. simulated sensor output
4. mini-monaco: 307
5. mini-monaco: not implemented
6. not provided by server; added by client