def lanekeeping_simulator(sample):
print(sample)
control_params = DotMap()
control_params.wheelbase = 2.995
control_params.a_star = 3.968
control_params.v_star = sample.init_conditions.cruising_speed[0] * 5. / 18.
control_params.dt = 0.032
control_params.control_freq = 2
control_params.R = 50 * np.identity(1)
control_params.Q = np.diag([100.0, 0.0, 5.0])
control_params.sprite_scale = 1 / 800
control_params.window_size = 800
width = 1.0
return lanekeeping(sample, control_params, width)
