For input, we used a simulator grade racing wheel, the Logitech
G27 Racing Wheel, with an 28 cm diameter (see Figure
5) that was attached to a desk. Every 100ms, we log the position
of the car and the steering wheel, which ranges from
-1,000 (left) to 1,000 (right) for a 180 turn of the wheel,
with 0 being the neutral position.