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+The code needs an appropriate environment set up with CARLA 0.9.x to run. 
+With versions <0.9.10, coordinate systems need to be modified.
+
+Thanks to [enginBozkurt](https://github.com/enginBozkurt). The data generation code here uses a part of his [enginBozkurt/carla-training-data](https://github.com/enginBozkurt/carla-training-data) (use CARLA 0.8.x).