        angle_steers_k = np.inf
  
      plot_arr[:-1] = plot_arr[1:]
      plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
      plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
      plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
      plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
      plot_arr[-1, name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas
      plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
      plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
 
</s> remove     lqr_log.steeringAngleDeg = angle_steers_k + lat_plan.angleOffsetDeg
 </s> add     lqr_log.steeringAngleDeg = angle_steers_k + params.angleOffsetAverageDeg </s> remove     lqr_log.output = self.output_steer
 </s> add     lqr_log.output = output_steer </s> remove         error = self.angle_steers_des - angle_steers_k
 </s> add         error = desired_angle - angle_steers_k </s> remove     saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
 </s> add     saturated = self._check_saturation(output_steer, check_saturation, steers_max) </s> remove     steering_wheel_angle_offset_deg = sm['liveParameters'].angleOffsetDeg
    steering_wheel_angle_deg = sm['carState'].steeringAngleDeg

    # Update vehicle model
    x = max(sm['liveParameters'].stiffnessFactor, 0.1)
    sr = max(sm['liveParameters'].steerRatio, 0.1)
    VM.update_params(x, sr)
    curvature_factor = VM.curvature_factor(v_ego)
    measured_curvature = -curvature_factor * math.radians(steering_wheel_angle_deg - steering_wheel_angle_offset_deg) / VM.sR

 </s> add     measured_curvature = sm['controlsState'].curvature
    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['controlsState'].steeringAngleDesiredDeg
        angle_steers_k = np.inf
  
      plot_arr[:-1] = plot_arr[1:]
      plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['controlsState'].steeringAngleDesiredDeg
      plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
      plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
      plot_arr[-1, name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas
      plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
      plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
keep keep keep keep replace keep keep keep keep keep
 LateralPlanner should only compute curvature (#20289)

* get curvature from planner

* no need to check active

* remove that

* remove self

* liveParams not needed

* cast

* fix test bug

* fixes

* fix ui.py

* fix radians

* update refs

* update refs

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
tools/replay/ui.py