# Websocket Data This document describes the JSON object send back from the simulator command server. Fields: * `ptsx` (Array) - The global x positions of the waypoints. * `ptsy` (Array) - The global y positions of the waypoints. This corresponds to the z coordinate in Unity since y is the up-down direction. * `psi` (float) - The orientation of the vehicle in **radians** converted from the Unity format to the standard format expected in most mathemetical functions (more details below). * `psi_unity` (float) - The orientation of the vehicle in **radians**. This is an orientation commonly used in [navigation](https://en.wikipedia.org/wiki/Polar_coordinate_system#Position_and_navigation). * `x` (float) - The global x position of the vehicle. * `y` (float) - The global y position of the vehicle. * `steering_angle` (float) - The current steering angle in **radians**. * `throttle` (float) - The current throttle value [-1, 1]. * `speed` (float) - The current velocity in **mph**. ### `psi` and `psi_unity` representations `psi` ``` // 90 // // 180 0/360 // // 270 ``` `psi_unity` ``` // 0/360 // // 270 90 // // 180 ```