{
    "0": {
        "acceleration": [
            -0.0029366009403020144,
            0.006234955508261919,
            -0.6187146902084351
        ],
        "angular_velocity": [
            0.019653374329209328,
            -0.022218827158212662,
            4.0547718526795506e-05
        ],
        "forward_vector": [
            -0.9999594688415527,
            0.006665686145424843,
            0.006045542657375336
        ],
        "right_vector": [
            -0.006665302440524101,
            -0.9999777674674988,
            8.362171502085403e-05
        ],
        "location": [
            733.07958984375,
            4286.78369140625,
            369.4612121582031
        ],
        "rotation": [
            -0.004791258834302425,
            0.346386194229126,
            179.61807250976562
        ],
        "velocity": [
            0.0007753425743430853,
            -0.0001567476720083505,
            0.14286646246910095
        ],
        "speed": 0.0007910284067396063,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.45299842953681946,
                "transform": {
                    "location": {
                        "x": 642.491943359375,
                        "y": 4286.18115234375,
                        "z": 369.8810729980469
                    },
                    "rotation": {
                        "roll": -0.23165887594223022,
                        "pitch": 0.43796536326408386,
                        "yaw": 179.660888671875
                    }
                },
                "velocity": {
                    "x": 0.004485404584556818,
                    "y": 0.012166882865130901,
                    "z": 0.4528127908706665
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0020966799929738045,
        "expert_target_speed": 10.0,
        "target_point": [
            51.54336635730816,
            0.03888316402752756
        ],
        "target_point_next": [
            102.5433292621658,
            0.07707386547628481
        ]
    },
    "5": {
        "acceleration": [
            -0.0011309538967907429,
            -0.0036710549611598253,
            -0.2682170271873474
        ],
        "angular_velocity": [
            0.01098707690834999,
            -0.010413628071546555,
            2.1601412299787626e-05
        ],
        "forward_vector": [
            -0.9999598860740662,
            0.006665688939392567,
            0.005981766618788242
        ],
        "right_vector": [
            -0.00666567450389266,
            -0.9999777674674988,
            2.237015542050358e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48199462890625
        ],
        "rotation": [
            -0.0012817383976653218,
            0.3427320420742035,
            179.61807250976562
        ],
        "velocity": [
            0.00022705658921040595,
            -0.00013918308832217008,
            0.042635075747966766
        ],
        "speed": 0.0002663205339037154,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.29515838623047,
        "front_vehicle_info": {
            "id": 3711,
            "type": "vehicle.ford.mustang",
            "location": [
                653.4404296875,
                4297.00537109375,
                370.13299560546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4404296875,
                        "y": 4297.00537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4212036132812,
                        "y": 4293.75537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5045189261436462,
                "transform": {
                    "location": {
                        "x": 762.8302001953125,
                        "y": 4285.6904296875,
                        "z": 369.3014221191406
                    },
                    "rotation": {
                        "roll": -0.0007324216421693563,
                        "pitch": 0.383897602558136,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.003318601753562689,
                    "y": 0.00029535844805650413,
                    "z": -0.5045079588890076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6357187032699585,
                "transform": {
                    "location": {
                        "x": 747.9967651367188,
                        "y": 4286.4599609375,
                        "z": 369.4294738769531
                    },
                    "rotation": {
                        "roll": 0.0007713203667663038,
                        "pitch": 0.33871588110923767,
                        "yaw": 177.8912353515625
                    }
                },
                "velocity": {
                    "x": -0.0036576269194483757,
                    "y": 6.46749249426648e-05,
                    "z": -0.6357081532478333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43485963344573975,
                "transform": {
                    "location": {
                        "x": 718.1520385742188,
                        "y": 4286.8720703125,
                        "z": 369.58782958984375
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.33647558093070984,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -0.002469983883202076,
                    "y": -0.00010898907203227282,
                    "z": -0.43485260009765625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23282060027122498,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.7037658691406
                    },
                    "rotation": {
                        "roll": 0.001393489888869226,
                        "pitch": 0.33289656043052673,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -0.0013229140313342214,
                    "y": 3.070899401791394e-05,
                    "z": -0.23281683027744293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45631492137908936,
                "transform": {
                    "location": {
                        "x": 763.0471801757812,
                        "y": 4288.93310546875,
                        "z": 369.3104248046875
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.3814045786857605,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.00308401882648468,
                    "y": 0.00024381028197240084,
                    "z": -0.4563044309616089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45543402433395386,
                "transform": {
                    "location": {
                        "x": 748.1165161132812,
                        "y": 4289.70751953125,
                        "z": 369.40191650390625
                    },
                    "rotation": {
                        "roll": -0.0011596676195040345,
                        "pitch": 0.33302634954452515,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": -0.0026521566323935986,
                    "y": 0.00014246904174797237,
                    "z": -0.45542627573013306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2321363240480423,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.61663818359375
                    },
                    "rotation": {
                        "roll": 0.0024136954452842474,
                        "pitch": 0.33435139060020447,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": -0.0013205118011683226,
                    "y": 0.0002017271617660299,
                    "z": -0.23213247954845428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5145211815834045,
                "transform": {
                    "location": {
                        "x": 703.1715698242188,
                        "y": 4290.2109375,
                        "z": 369.6522521972656
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": 0.3321520686149597,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -0.002972028451040387,
                    "y": 0.00014319577894639224,
                    "z": -0.5145125985145569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3239947259426117,
                "transform": {
                    "location": {
                        "x": 642.4929809570312,
                        "y": 4286.181640625,
                        "z": 370.003662109375
                    },
                    "rotation": {
                        "roll": -0.0943298190832138,
                        "pitch": 0.384498655796051,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": 0.00032208068296313286,
                    "y": -0.009597599506378174,
                    "z": 0.32385239005088806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0006423458107747138,
        "expert_target_speed": 1.0383259595890175,
        "target_point": [
            51.54342740964375,
            0.03885899304478729
        ],
        "target_point_next": [
            102.54339033270632,
            0.0770253758161602
        ]
    },
    "10": {
        "acceleration": [
            0.000354397197952494,
            0.005685845855623484,
            -0.07430844008922577
        ],
        "angular_velocity": [
            -0.01881013810634613,
            0.009340781718492508,
            0.00017954535724129528
        ],
        "forward_vector": [
            -0.9999599456787109,
            0.006664735730737448,
            0.0059684161096811295
        ],
        "right_vector": [
            -0.006664872635155916,
            -0.9999777674674988,
            -3.0797637009527534e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4877014160156
        ],
        "rotation": [
            0.0001764605985954404,
            0.34196707606315613,
            179.61813354492188
        ],
        "velocity": [
            0.00010412208212073892,
            0.00020647927885875106,
            0.010545352473855019
        ],
        "speed": 0.0002312468390771813,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.23189544677734,
        "front_vehicle_info": {
            "id": 3711,
            "type": "vehicle.ford.mustang",
            "location": [
                655.5183715820312,
                4296.9931640625,
                369.9817810058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.5183715820312,
                        "y": 4296.9931640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.4991455078125,
                        "y": 4293.7431640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1025436520576477,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.2929992675781
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": 0.3847103714942932,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": 0.000690049899276346,
                    "y": -9.282471728511155e-05,
                    "z": 0.10254128277301788
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.061174292117357254,
                "transform": {
                    "location": {
                        "x": 747.9963989257812,
                        "y": 4286.4599609375,
                        "z": 369.3731689453125
                    },
                    "rotation": {
                        "roll": 0.000871284632012248,
                        "pitch": 0.34060102701187134,
                        "yaw": 177.89122009277344
                    }
                },
                "velocity": {
                    "x": 0.00037549142143689096,
                    "y": -8.296708074340131e-06,
                    "z": 0.06117313727736473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0274041835218668,
                "transform": {
                    "location": {
                        "x": 718.15185546875,
                        "y": 4286.8720703125,
                        "z": 369.56365966796875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.33960381150245667,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0001842377969296649,
                    "y": -0.00012511353997979313,
                    "z": 0.027403278276324272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02493421360850334,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.6972961425781
                    },
                    "rotation": {
                        "roll": 0.001135597936809063,
                        "pitch": 0.3331014811992645,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.000176285466295667,
                    "y": -4.4604203139897436e-05,
                    "z": 0.024933550506830215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09441056847572327,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.30328369140625
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.3812406361103058,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0006493785767816007,
                    "y": -0.00010532941087149084,
                    "z": 0.09440827369689941
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09427197277545929,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.3948059082031
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.3332790732383728,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": 0.0005661581526510417,
                    "y": -8.152468217303976e-05,
                    "z": 0.0942702367901802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024769581854343414,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.610107421875
                    },
                    "rotation": {
                        "roll": 0.0018934343243017793,
                        "pitch": 0.3349592983722687,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0001544644619571045,
                    "y": 0.00035380563349463046,
                    "z": 0.024766573682427406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1063017025589943,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.6437683105469
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": 0.33179691433906555,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0006267820717766881,
                    "y": -0.00017751703853718936,
                    "z": 0.10629970580339432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.057063329964876175,
                "transform": {
                    "location": {
                        "x": 642.4939575195312,
                        "y": 4286.181640625,
                        "z": 370.02734375
                    },
                    "rotation": {
                        "roll": 0.018715541809797287,
                        "pitch": 0.2854540944099426,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -0.0005597444251179695,
                    "y": -0.0009280548547394574,
                    "z": -0.057053036987781525
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0017921901308000088,
        "expert_target_speed": 1.005992167160058,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "15": {
        "acceleration": [
            -6.337175369262695,
            0.06859052181243896,
            -1.545064151287079e-05
        ],
        "angular_velocity": [
            0.08459290117025375,
            1.9637879133224487,
            -0.48333287239074707
        ],
        "forward_vector": [
            -0.9999293088912964,
            0.00735521549358964,
            0.009343368001282215
        ],
        "right_vector": [
            -0.007355812471359968,
            -0.999972939491272,
            -2.955299169116188e-05
        ],
        "location": [
            733.0216064453125,
            4286.7841796875,
            369.4887390136719
        ],
        "rotation": [
            0.0016933355946093798,
            0.53534334897995,
            179.57855224609375
        ],
        "velocity": [
            -0.8489799499511719,
            0.008273791521787643,
            0.006481046322733164
        ],
        "speed": 0.8490202653913747,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.10874938964844,
        "front_vehicle_info": {
            "id": 3711,
            "type": "vehicle.ford.mustang",
            "location": [
                657.6002807617188,
                4296.98046875,
                369.9375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.6002807617188,
                        "y": 4296.98046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.5810546875,
                        "y": 4293.73046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023524481803178787,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.3082580566406
                    },
                    "rotation": {
                        "roll": 7.595754595968174e-06,
                        "pitch": 0.3843074142932892,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0001689358032308519,
                    "y": 2.7320020308252424e-05,
                    "z": 0.023523859679698944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1389744132757187,
                "transform": {
                    "location": {
                        "x": 747.9893798828125,
                        "y": 4286.4599609375,
                        "z": 369.4047546386719
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.3541930913925171,
                        "yaw": 177.89453125
                    }
                },
                "velocity": {
                    "x": -0.08124236017465591,
                    "y": 0.0009029434877447784,
                    "z": 0.1127508357167244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8802815675735474,
                "transform": {
                    "location": {
                        "x": 718.0856323242188,
                        "y": 4286.87158203125,
                        "z": 369.571044921875
                    },
                    "rotation": {
                        "roll": -0.00921630673110485,
                        "pitch": 0.5455613136291504,
                        "yaw": 179.6595916748047
                    }
                },
                "velocity": {
                    "x": -0.87979656457901,
                    "y": -0.005085095763206482,
                    "z": 0.02877085655927658
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9055242538452148,
                "transform": {
                    "location": {
                        "x": 703.0865478515625,
                        "y": 4286.96044921875,
                        "z": 369.70068359375
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.4072636663913727,
                        "yaw": 179.68353271484375
                    }
                },
                "velocity": {
                    "x": -0.9053999781608582,
                    "y": -0.007333825808018446,
                    "z": 0.013086671940982342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020953742787241936,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.3172302246094
                    },
                    "rotation": {
                        "roll": -0.0003662094532046467,
                        "pitch": 0.38114503026008606,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.00015021853323560208,
                    "y": -0.0001034343586070463,
                    "z": 0.020952949300408363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020843490958213806,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.40875244140625
                    },
                    "rotation": {
                        "roll": -0.0012512201210483909,
                        "pitch": 0.3332858979701996,
                        "yaw": 177.8913116455078
                    }
                },
                "velocity": {
                    "x": 0.00014303937496151775,
                    "y": 6.13619340583682e-05,
                    "z": 0.020842909812927246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9213072061538696,
                "transform": {
                    "location": {
                        "x": 718.1052856445312,
                        "y": 4290.12158203125,
                        "z": 369.6134948730469
                    },
                    "rotation": {
                        "roll": -0.002807616489008069,
                        "pitch": 0.40968838334083557,
                        "yaw": 179.68809509277344
                    }
                },
                "velocity": {
                    "x": -0.9211761951446533,
                    "y": -0.007747138384729624,
                    "z": 0.013466023840010166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02309280075132847,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.65948486328125
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.33230918645858765,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 0.00014444772386923432,
                    "y": -3.2976691727526486e-05,
                    "z": 0.023092325776815414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05881591513752937,
                "transform": {
                    "location": {
                        "x": 642.493896484375,
                        "y": 4286.181640625,
                        "z": 370.0079345703125
                    },
                    "rotation": {
                        "roll": 0.006253334693610668,
                        "pitch": 0.29145780205726624,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -0.0001237491815118119,
                    "y": 0.0006633757147938013,
                    "z": -0.05881204456090927
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004222121089696884,
        "expert_target_speed": 1.8221520546592394,
        "target_point": [
            51.48534183784046,
            0.0745089821370375
        ],
        "target_point_next": [
            102.48526625179598,
            0.14788879787169917
        ]
    },
    "20": {
        "acceleration": [
            -5.187838077545166,
            0.021032728254795074,
            0.03994027152657509
        ],
        "angular_velocity": [
            -0.018013888970017433,
            0.4779170751571655,
            0.6403462886810303
        ],
        "forward_vector": [
            -0.9998793005943298,
            0.007125027943402529,
            0.013806380331516266
        ],
        "right_vector": [
            -0.007126022130250931,
            -0.9999746084213257,
            -2.282828245370183e-05
        ],
        "location": [
            732.6435546875,
            4286.787109375,
            369.4902648925781
        ],
        "rotation": [
            0.0013080888893455267,
            0.7910724878311157,
            179.5917205810547
        ],
        "velocity": [
            -2.0839085578918457,
            0.014833888970315456,
            0.012212161906063557
        ],
        "speed": 2.083961353268543,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.6685562133789,
        "front_vehicle_info": {
            "id": 3711,
            "type": "vehicle.ford.mustang",
            "location": [
                659.6831665039062,
                4296.96826171875,
                369.9178466796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6831665039062,
                        "y": 4296.96826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6638793945312,
                        "y": 4293.71826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9624414443969727,
                "transform": {
                    "location": {
                        "x": 762.6216430664062,
                        "y": 4285.701171875,
                        "z": 369.31097412109375
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": 0.4233282804489136,
                        "yaw": 176.26351928710938
                    }
                },
                "velocity": {
                    "x": -1.9601579904556274,
                    "y": 0.09399950504302979,
                    "z": 0.01101123820990324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7023549675941467,
                "transform": {
                    "location": {
                        "x": 747.8656616210938,
                        "y": 4286.46240234375,
                        "z": 369.416015625
                    },
                    "rotation": {
                        "roll": -0.007965087890625,
                        "pitch": 0.4783249497413635,
                        "yaw": 177.92434692382812
                    }
                },
                "velocity": {
                    "x": -0.7022427320480347,
                    "y": 0.012511569075286388,
                    "z": 0.0010335540864616632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8672748804092407,
                "transform": {
                    "location": {
                        "x": 717.7289428710938,
                        "y": 4286.8701171875,
                        "z": 369.5760192871094
                    },
                    "rotation": {
                        "roll": -0.014770508743822575,
                        "pitch": 0.7257280349731445,
                        "yaw": 179.80140686035156
                    }
                },
                "velocity": {
                    "x": -1.8671436309814453,
                    "y": -0.011976280249655247,
                    "z": 0.018614167347550392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8437989950180054,
                "transform": {
                    "location": {
                        "x": 702.7273559570312,
                        "y": 4286.958984375,
                        "z": 369.7033996582031
                    },
                    "rotation": {
                        "roll": -0.0011901853140443563,
                        "pitch": 0.4365173578262329,
                        "yaw": 179.8267822265625
                    }
                },
                "velocity": {
                    "x": -1.8436987400054932,
                    "y": -0.015339852310717106,
                    "z": 0.011584796942770481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1327996253967285,
                "transform": {
                    "location": {
                        "x": 762.8187255859375,
                        "y": 4288.9443359375,
                        "z": 369.3216857910156
                    },
                    "rotation": {
                        "roll": 0.009196165949106216,
                        "pitch": 0.19323286414146423,
                        "yaw": 176.25099182128906
                    }
                },
                "velocity": {
                    "x": -2.1304445266723633,
                    "y": 0.09921599179506302,
                    "z": 0.013990955427289009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1806137561798096,
                "transform": {
                    "location": {
                        "x": 747.890625,
                        "y": 4289.712890625,
                        "z": 369.4130859375
                    },
                    "rotation": {
                        "roll": 0.009538781829178333,
                        "pitch": 0.14528495073318481,
                        "yaw": 178.08070373535156
                    }
                },
                "velocity": {
                    "x": -2.1803085803985596,
                    "y": 0.03475413843989372,
                    "z": 0.011095733381807804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.872437596321106,
                "transform": {
                    "location": {
                        "x": 717.7435913085938,
                        "y": 4290.1201171875,
                        "z": 369.6162109375
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.43943384289741516,
                        "yaw": 179.81565856933594
                    }
                },
                "velocity": {
                    "x": -1.8723291158676147,
                    "y": -0.016089793294668198,
                    "z": 0.012134618125855923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1024563312530518,
                "transform": {
                    "location": {
                        "x": 703.0511474609375,
                        "y": 4290.21044921875,
                        "z": 369.66143798828125
                    },
                    "rotation": {
                        "roll": -0.0027465815655887127,
                        "pitch": 0.36385098099708557,
                        "yaw": 179.70703125
                    }
                },
                "velocity": {
                    "x": -1.1024144887924194,
                    "y": -0.00721356738358736,
                    "z": 0.006342162843793631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006155104376375675,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0027160644531
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.3038546144962311,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 6.35122851235792e-05,
                    "y": -2.5314999220427126e-05,
                    "z": 0.006154724396765232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004484100732952356,
        "expert_target_speed": 3.01370591988534,
        "target_point": [
            51.10729456692832,
            0.06291151907049614
        ],
        "target_point_next": [
            102.10723449915186,
            0.12456973931964244
        ]
    },
    "25": {
        "acceleration": [
            -6.816830635070801,
            -0.022862330079078674,
            0.04904843866825104
        ],
        "angular_velocity": [
            -0.009926939383149147,
            0.6659215092658997,
            0.2657335102558136
        ],
        "forward_vector": [
            -0.9998339414596558,
            0.006457689218223095,
            0.017040736973285675
        ],
        "right_vector": [
            -0.006456412374973297,
            -0.9999791383743286,
            0.00012994334974791855
        ],
        "location": [
            731.907958984375,
            4286.79150390625,
            369.493896484375
        ],
        "rotation": [
            -0.007446287199854851,
            0.9764096140861511,
            179.62994384765625
        ],
        "velocity": [
            -3.7610838413238525,
            0.018177969381213188,
            0.022033844143152237
        ],
        "speed": 3.76112776970395,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.87580108642578,
        "front_vehicle_info": {
            "id": 3711,
            "type": "vehicle.ford.mustang",
            "location": [
                661.7659912109375,
                4296.9560546875,
                369.90142822265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7659912109375,
                        "y": 4296.9560546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7467651367188,
                        "y": 4293.7060546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.954958200454712,
                "transform": {
                    "location": {
                        "x": 761.99169921875,
                        "y": 4285.73388671875,
                        "z": 369.3148498535156
                    },
                    "rotation": {
                        "roll": 0.000642845465335995,
                        "pitch": 0.410419225692749,
                        "yaw": 176.56158447265625
                    }
                },
                "velocity": {
                    "x": -2.951572895050049,
                    "y": 0.14024300873279572,
                    "z": 0.018084602430462837
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6119256019592285,
                "transform": {
                    "location": {
                        "x": 747.5776977539062,
                        "y": 4286.4697265625,
                        "z": 369.41259765625
                    },
                    "rotation": {
                        "roll": -0.009582518599927425,
                        "pitch": 0.5344759225845337,
                        "yaw": 178.0966796875
                    }
                },
                "velocity": {
                    "x": -1.611609935760498,
                    "y": 0.030400477349758148,
                    "z": -0.009663152508437634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9849061965942383,
                "transform": {
                    "location": {
                        "x": 717.1282348632812,
                        "y": 4286.86669921875,
                        "z": 369.5803527832031
                    },
                    "rotation": {
                        "roll": -0.014343264512717724,
                        "pitch": 0.7958126068115234,
                        "yaw": 179.9939422607422
                    }
                },
                "velocity": {
                    "x": -2.984772205352783,
                    "y": -0.021640010178089142,
                    "z": 0.01820565201342106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9991533756256104,
                "transform": {
                    "location": {
                        "x": 702.122314453125,
                        "y": 4286.95556640625,
                        "z": 369.7068176269531
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.45056024193763733,
                        "yaw": -179.98480224609375
                    }
                },
                "velocity": {
                    "x": -2.9989874362945557,
                    "y": -0.02612335793673992,
                    "z": 0.017652425915002823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3427064418792725,
                "transform": {
                    "location": {
                        "x": 762.1182861328125,
                        "y": 4288.97900390625,
                        "z": 369.32562255859375
                    },
                    "rotation": {
                        "roll": 0.007742029149085283,
                        "pitch": 0.23228788375854492,
                        "yaw": 176.57057189941406
                    }
                },
                "velocity": {
                    "x": -3.3390941619873047,
                    "y": 0.15403757989406586,
                    "z": 0.020218972116708755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3360886573791504,
                "transform": {
                    "location": {
                        "x": 747.1873779296875,
                        "y": 4289.7265625,
                        "z": 369.41650390625
                    },
                    "rotation": {
                        "roll": 0.006681015249341726,
                        "pitch": 0.18753649294376373,
                        "yaw": 178.37228393554688
                    }
                },
                "velocity": {
                    "x": -3.3356075286865234,
                    "y": 0.053618915379047394,
                    "z": 0.018295086920261383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9810941219329834,
                "transform": {
                    "location": {
                        "x": 717.1384887695312,
                        "y": 4290.11669921875,
                        "z": 369.6197509765625
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": 0.4510451853275299,
                        "yaw": 179.99435424804688
                    }
                },
                "velocity": {
                    "x": -2.9809346199035645,
                    "y": -0.02512659691274166,
                    "z": 0.017862863838672638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7386195659637451,
                "transform": {
                    "location": {
                        "x": 702.6842041015625,
                        "y": 4290.208984375,
                        "z": 369.6632995605469
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.35850977897644043,
                        "yaw": 179.81295776367188
                    }
                },
                "velocity": {
                    "x": -1.7385467290878296,
                    "y": -0.013371847569942474,
                    "z": 0.008636074140667915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001412210869602859,
        "expert_target_speed": 4.587356086336939,
        "target_point": [
            50.37171643337413,
            0.028437504204966546
        ],
        "target_point_next": [
            101.37168616277485,
            0.05604958024770024
        ]
    },
    "30": {
        "acceleration": [
            -7.012414932250977,
            -0.006119087338447571,
            -0.027961283922195435
        ],
        "angular_velocity": [
            0.018923677504062653,
            0.2928853929042816,
            0.2768953740596771
        ],
        "forward_vector": [
            -0.9998108148574829,
            0.004994355142116547,
            0.018800698220729828
        ],
        "right_vector": [
            -0.004991032183170319,
            -0.9999875426292419,
            0.00022366594930645078
        ],
        "location": [
            730.74609375,
            4286.79541015625,
            369.5005798339844
        ],
        "rotation": [
            -0.012817380018532276,
            1.0772641897201538,
            179.7137908935547
        ],
        "velocity": [
            -5.472997188568115,
            0.018010497093200684,
            0.03355913236737251
        ],
        "speed": 5.473026822890605,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.70159912109375,
        "front_vehicle_info": {
            "id": 3711,
            "type": "vehicle.ford.mustang",
            "location": [
                663.8112182617188,
                4296.9482421875,
                369.88720703125
            ],
            "velocity": [
                8.058975219726562,
                0.0088642667979002,
                -0.06707148998975754
            ],
            "speed_kmh": 29.013333097526406,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059259414672852,
                "transform": {
                    "location": {
                        "x": 663.8112182617188,
                        "y": 4296.9482421875,
                        "z": 369.88720703125
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.31628555059432983,
                        "yaw": -0.17218017578125
                    }
                },
                "velocity": {
                    "x": 8.058975219726562,
                    "y": 0.0088642667979002,
                    "z": -0.06707148998975754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.268712043762207,
                "transform": {
                    "location": {
                        "x": 663.7943725585938,
                        "y": 4293.701171875,
                        "z": 369.89215087890625
                    },
                    "rotation": {
                        "roll": -0.0448608435690403,
                        "pitch": -0.3474721908569336,
                        "yaw": -0.091400146484375
                    }
                },
                "velocity": {
                    "x": 8.268622398376465,
                    "y": 0.018663112074136734,
                    "z": -0.033612463623285294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7215301990509033,
                "transform": {
                    "location": {
                        "x": 761.1531982421875,
                        "y": 4285.77587890625,
                        "z": 369.3203430175781
                    },
                    "rotation": {
                        "roll": 0.0018736777128651738,
                        "pitch": 0.39598703384399414,
                        "yaw": 176.84603881835938
                    }
                },
                "velocity": {
                    "x": -3.7173964977264404,
                    "y": 0.17370493710041046,
                    "z": 0.024015702307224274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.12589955329895,
                "transform": {
                    "location": {
                        "x": 747.0094604492188,
                        "y": 4286.48193359375,
                        "z": 369.4127502441406
                    },
                    "rotation": {
                        "roll": -0.013244626112282276,
                        "pitch": 0.6452479362487793,
                        "yaw": 178.36044311523438
                    }
                },
                "velocity": {
                    "x": -3.1253464221954346,
                    "y": 0.055956415832042694,
                    "z": 0.01808849349617958
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.384318828582764,
                "transform": {
                    "location": {
                        "x": 716.195068359375,
                        "y": 4286.8603515625,
                        "z": 369.5854187011719
                    },
                    "rotation": {
                        "roll": -0.013763426803052425,
                        "pitch": 0.9122331738471985,
                        "yaw": -179.8003692626953
                    }
                },
                "velocity": {
                    "x": -4.384103775024414,
                    "y": -0.03520318120718002,
                    "z": 0.025385074317455292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.374879837036133,
                "transform": {
                    "location": {
                        "x": 701.1904296875,
                        "y": 4286.94921875,
                        "z": 369.71197509765625
                    },
                    "rotation": {
                        "roll": 0.0004474956658668816,
                        "pitch": 0.4760231673717499,
                        "yaw": -179.7861785888672
                    }
                },
                "velocity": {
                    "x": -4.374629974365234,
                    "y": -0.039465732872486115,
                    "z": 0.024999350309371948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.465246200561523,
                "transform": {
                    "location": {
                        "x": 761.137939453125,
                        "y": 4289.02685546875,
                        "z": 369.3317565917969
                    },
                    "rotation": {
                        "roll": 0.006022654939442873,
                        "pitch": 0.25584521889686584,
                        "yaw": 176.87184143066406
                    }
                },
                "velocity": {
                    "x": -4.460405349731445,
                    "y": 0.20574620366096497,
                    "z": 0.029574546962976456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.471312999725342,
                "transform": {
                    "location": {
                        "x": 746.2045288085938,
                        "y": 4289.7451171875,
                        "z": 369.4219055175781
                    },
                    "rotation": {
                        "roll": 0.006520191207528114,
                        "pitch": 0.2156495451927185,
                        "yaw": 178.64529418945312
                    }
                },
                "velocity": {
                    "x": -4.470666885375977,
                    "y": 0.07140378654003143,
                    "z": 0.026057662442326546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.370018482208252,
                "transform": {
                    "location": {
                        "x": 716.2079467773438,
                        "y": 4290.1103515625,
                        "z": 369.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": 0.47869378328323364,
                        "yaw": -179.80140686035156
                    }
                },
                "velocity": {
                    "x": -4.369767189025879,
                    "y": -0.03906865790486336,
                    "z": 0.02586238831281662
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.253244638442993,
                "transform": {
                    "location": {
                        "x": 702.1843872070312,
                        "y": 4290.20654296875,
                        "z": 369.66619873046875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.35028624534606934,
                        "yaw": 179.96206665039062
                    }
                },
                "velocity": {
                    "x": -2.253136396408081,
                    "y": -0.018017632886767387,
                    "z": 0.01277344673871994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0026032831519842148,
        "expert_target_speed": 6.110187774255367,
        "target_point": [
            49.209833859671285,
            -0.04717426226326532
        ],
        "target_point_next": [
            100.20978938673055,
            -0.09419622001453642
        ]
    },
    "35": {
        "acceleration": [
            -11.499481201171875,
            0.09542368352413177,
            0.06314314901828766
        ],
        "angular_velocity": [
            0.04896260052919388,
            1.4770578145980835,
            0.24814225733280182
        ],
        "forward_vector": [
            -0.9998737573623657,
            0.004792273044586182,
            0.015146508812904358
        ],
        "right_vector": [
            -0.004794067237526178,
            -0.9999884963035583,
            -8.212678949348629e-05
        ],
        "location": [
            729.3003540039062,
            4286.80224609375,
            369.50970458984375
        ],
        "rotation": [
            0.00470605818554759,
            0.8678642511367798,
            179.7253875732422
        ],
        "velocity": [
            -6.4369330406188965,
            0.03520474210381508,
            0.03762361407279968
        ],
        "speed": 6.437029310425565,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.27814483642578,
        "front_vehicle_info": {
            "id": 3711,
            "type": "vehicle.ford.mustang",
            "location": [
                665.829833984375,
                4296.953125,
                369.8731689453125
            ],
            "velocity": [
                8.088921546936035,
                0.051252979785203934,
                -0.047700174152851105
            ],
            "speed_kmh": 29.121208412646638,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089223861694336,
                "transform": {
                    "location": {
                        "x": 665.829833984375,
                        "y": 4296.953125,
                        "z": 369.8731689453125
                    },
                    "rotation": {
                        "roll": -0.005706787109375,
                        "pitch": -0.3139359652996063,
                        "yaw": 0.2319682389497757
                    }
                },
                "velocity": {
                    "x": 8.088921546936035,
                    "y": 0.051252979785203934,
                    "z": -0.047700174152851105
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.051162719726562,
                "transform": {
                    "location": {
                        "x": 665.8334350585938,
                        "y": 4293.70703125,
                        "z": 369.8825988769531
                    },
                    "rotation": {
                        "roll": -0.0299987755715847,
                        "pitch": -0.3199123740196228,
                        "yaw": 0.25946804881095886
                    }
                },
                "velocity": {
                    "x": 8.05091381072998,
                    "y": 0.047746457159519196,
                    "z": -0.04148580878973007
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.451961517333984,
                "transform": {
                    "location": {
                        "x": 760.1292114257812,
                        "y": 4285.8251953125,
                        "z": 369.3271484375
                    },
                    "rotation": {
                        "roll": 0.0038021302316337824,
                        "pitch": 0.38960763812065125,
                        "yaw": 177.0806427001953
                    }
                },
                "velocity": {
                    "x": -4.44717264175415,
                    "y": 0.20432931184768677,
                    "z": 0.02949841506779194
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.013422966003418,
                "transform": {
                    "location": {
                        "x": 745.9855346679688,
                        "y": 4286.501953125,
                        "z": 369.4181823730469
                    },
                    "rotation": {
                        "roll": -0.011657713912427425,
                        "pitch": 0.7981348633766174,
                        "yaw": 178.63963317871094
                    }
                },
                "velocity": {
                    "x": -5.012607574462891,
                    "y": 0.08461152017116547,
                    "z": 0.031883981078863144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.411758899688721,
                "transform": {
                    "location": {
                        "x": 714.939697265625,
                        "y": 4286.85498046875,
                        "z": 369.59320068359375
                    },
                    "rotation": {
                        "roll": 0.01933136209845543,
                        "pitch": 0.8842430710792542,
                        "yaw": -179.8705291748047
                    }
                },
                "velocity": {
                    "x": -5.411653995513916,
                    "y": -0.010935147292912006,
                    "z": 0.03186902031302452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.324244499206543,
                "transform": {
                    "location": {
                        "x": 699.9428100585938,
                        "y": 4286.9453125,
                        "z": 369.7197265625
                    },
                    "rotation": {
                        "roll": 0.008706972002983093,
                        "pitch": 0.4497884213924408,
                        "yaw": -179.79385375976562
                    }
                },
                "velocity": {
                    "x": -5.3241424560546875,
                    "y": -0.008787357248365879,
                    "z": 0.03175091743469238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2888503074646,
                "transform": {
                    "location": {
                        "x": 759.8945922851562,
                        "y": 4289.0859375,
                        "z": 369.3399658203125
                    },
                    "rotation": {
                        "roll": 0.005559108220040798,
                        "pitch": 0.2765201926231384,
                        "yaw": 177.10623168945312
                    }
                },
                "velocity": {
                    "x": -5.283191204071045,
                    "y": 0.24199631810188293,
                    "z": 0.03557756170630455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.285097122192383,
                "transform": {
                    "location": {
                        "x": 744.95654296875,
                        "y": 4289.76611328125,
                        "z": 369.42919921875
                    },
                    "rotation": {
                        "roll": 0.004804009571671486,
                        "pitch": 0.24019725620746613,
                        "yaw": 178.82749938964844
                    }
                },
                "velocity": {
                    "x": -5.284327507019043,
                    "y": 0.08415006101131439,
                    "z": 0.03240690007805824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3108439445495605,
                "transform": {
                    "location": {
                        "x": 714.9620361328125,
                        "y": 4290.10595703125,
                        "z": 369.6326904296875
                    },
                    "rotation": {
                        "roll": 0.009589609690010548,
                        "pitch": 0.45263659954071045,
                        "yaw": -179.83421325683594
                    }
                },
                "velocity": {
                    "x": -5.310747146606445,
                    "y": -0.008863654918968678,
                    "z": 0.030809134244918823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.81040620803833,
                "transform": {
                    "location": {
                        "x": 701.54833984375,
                        "y": 4290.20263671875,
                        "z": 369.6699523925781
                    },
                    "rotation": {
                        "roll": 0.0005600251606665552,
                        "pitch": 0.3497466444969177,
                        "yaw": -179.87600708007812
                    }
                },
                "velocity": {
                    "x": -2.8102612495422363,
                    "y": -0.024291157722473145,
                    "z": 0.015007228590548038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.005781087093055248,
        "expert_target_speed": 6.894178197939435,
        "target_point": [
            47.764067411971496,
            -0.057216534088394
        ],
        "target_point_next": [
            98.76401238983503,
            -0.11454960852586737
        ]
    },
    "40": {
        "acceleration": [
            -7.853260040283203,
            0.11075027287006378,
            0.060933828353881836
        ],
        "angular_velocity": [
            0.04951934888958931,
            0.4840930998325348,
            -1.613188624382019
        ],
        "forward_vector": [
            -0.9997744560241699,
            0.006546457298099995,
            0.020201142877340317
        ],
        "right_vector": [
            -0.006553319748491049,
            -0.9999784231185913,
            -0.00027352309552952647
        ],
        "location": [
            727.3984375,
            4286.814453125,
            369.5196838378906
        ],
        "rotation": [
            0.01567491702735424,
            1.157518982887268,
            179.6248321533203
        ],
        "velocity": [
            -8.57223129272461,
            0.0634661614894867,
            0.049938399344682693
        ],
        "speed": 8.572466231465787,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.4115104675293,
        "front_vehicle_info": {
            "id": 3711,
            "type": "vehicle.ford.mustang",
            "location": [
                667.8462524414062,
                4296.9619140625,
                369.8619384765625
            ],
            "velocity": [
                8.044559478759766,
                0.02383584715425968,
                -0.04464247450232506
            ],
            "speed_kmh": 28.96098717306679,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044717788696289,
                "transform": {
                    "location": {
                        "x": 667.8462524414062,
                        "y": 4296.9619140625,
                        "z": 369.8619384765625
                    },
                    "rotation": {
                        "roll": -0.0031127925030887127,
                        "pitch": -0.31396329402923584,
                        "yaw": 0.27721378207206726
                    }
                },
                "velocity": {
                    "x": 8.044559478759766,
                    "y": 0.02383584715425968,
                    "z": -0.04464247450232506
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.277327537536621,
                "transform": {
                    "location": {
                        "x": 667.8756103515625,
                        "y": 4293.71533203125,
                        "z": 369.87115478515625
                    },
                    "rotation": {
                        "roll": 0.013361737132072449,
                        "pitch": -0.3089021146297455,
                        "yaw": 0.276038259267807
                    }
                },
                "velocity": {
                    "x": 8.277170181274414,
                    "y": 0.02106688916683197,
                    "z": -0.046489547938108444
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.198419094085693,
                "transform": {
                    "location": {
                        "x": 758.9177856445312,
                        "y": 4285.88232421875,
                        "z": 369.3351745605469
                    },
                    "rotation": {
                        "roll": 0.0023308543022722006,
                        "pitch": 0.38381561636924744,
                        "yaw": 177.24977111816406
                    }
                },
                "velocity": {
                    "x": -5.192943572998047,
                    "y": 0.23608581721782684,
                    "z": 0.03404930979013443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.840465068817139,
                "transform": {
                    "location": {
                        "x": 744.6370239257812,
                        "y": 4286.5263671875,
                        "z": 369.42864990234375
                    },
                    "rotation": {
                        "roll": -0.004058836959302425,
                        "pitch": 0.5719736814498901,
                        "yaw": 178.9292755126953
                    }
                },
                "velocity": {
                    "x": -5.839624881744385,
                    "y": 0.0928892120718956,
                    "z": 0.03438826650381088
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.235318660736084,
                "transform": {
                    "location": {
                        "x": 713.55419921875,
                        "y": 4286.8525390625,
                        "z": 369.60186767578125
                    },
                    "rotation": {
                        "roll": 0.01583186723291874,
                        "pitch": 0.7170127034187317,
                        "yaw": -179.9879913330078
                    }
                },
                "velocity": {
                    "x": -6.235206604003906,
                    "y": -0.006532677914947271,
                    "z": 0.036835458129644394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.573041915893555,
                "transform": {
                    "location": {
                        "x": 698.5835571289062,
                        "y": 4286.943359375,
                        "z": 369.72802734375
                    },
                    "rotation": {
                        "roll": 0.005704930983483791,
                        "pitch": 0.3880230188369751,
                        "yaw": -179.76416015625
                    }
                },
                "velocity": {
                    "x": -5.57294225692749,
                    "y": -0.010125351138412952,
                    "z": 0.03171096742153168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.735456466674805,
                "transform": {
                    "location": {
                        "x": 758.5300903320312,
                        "y": 4289.14990234375,
                        "z": 369.3482971191406
                    },
                    "rotation": {
                        "roll": 0.005324273370206356,
                        "pitch": 0.30017995834350586,
                        "yaw": 177.29974365234375
                    }
                },
                "velocity": {
                    "x": -5.729562759399414,
                    "y": 0.25769102573394775,
                    "z": 0.03417787328362465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.711518287658691,
                "transform": {
                    "location": {
                        "x": 743.595458984375,
                        "y": 4289.7890625,
                        "z": 369.4368591308594
                    },
                    "rotation": {
                        "roll": 0.005426398012787104,
                        "pitch": 0.2827083468437195,
                        "yaw": 178.96971130371094
                    }
                },
                "velocity": {
                    "x": -5.710806846618652,
                    "y": 0.08388219773769379,
                    "z": 0.032985057681798935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.791581869125366,
                "transform": {
                    "location": {
                        "x": 713.7154541015625,
                        "y": 4290.1025390625,
                        "z": 369.6412353515625
                    },
                    "rotation": {
                        "roll": 0.0062414915300905704,
                        "pitch": 0.2548002004623413,
                        "yaw": -179.97341918945312
                    }
                },
                "velocity": {
                    "x": -3.79152250289917,
                    "y": -0.004075090866535902,
                    "z": 0.02085009589791298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4125113487243652,
                "transform": {
                    "location": {
                        "x": 700.7705078125,
                        "y": 4290.1982421875,
                        "z": 369.6744384765625
                    },
                    "rotation": {
                        "roll": 0.0037837540730834007,
                        "pitch": 0.3515361547470093,
                        "yaw": -179.77566528320312
                    }
                },
                "velocity": {
                    "x": -3.412445068359375,
                    "y": -0.010269862599670887,
                    "z": 0.018618058413267136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.29329606890678406,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0013734460808336735,
        "expert_target_speed": 8.384820340010865,
        "target_point": [
            45.86213860180507,
            0.026374066241578342
        ],
        "target_point_next": [
            96.86210565098519,
            0.05855805412647108
        ]
    },
    "45": {
        "acceleration": [
            -11.932048797607422,
            0.1828150451183319,
            0.07072426378726959
        ],
        "angular_velocity": [
            0.024394404143095016,
            0.5366567969322205,
            -0.3874422311782837
        ],
        "forward_vector": [
            -0.9998207092285156,
            0.008453159593045712,
            0.01694156974554062
        ],
        "right_vector": [
            -0.008460856974124908,
            -0.9999641180038452,
            -0.0003827378968708217
        ],
        "location": [
            725.1019287109375,
            4286.83349609375,
            369.53369140625
        ],
        "rotation": [
            0.021932413801550865,
            0.9707269072532654,
            179.51559448242188
        ],
        "velocity": [
            -9.771565437316895,
            0.09118662774562836,
            0.05637000873684883
        ],
        "speed": 9.771990897296504,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.304436683654785,
        "front_vehicle_info": {
            "id": 3707,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                711.7977294921875,
                4286.85107421875,
                369.6112365722656
            ],
            "velocity": [
                -7.681939125061035,
                -0.008049601688981056,
                0.044728219509124756
            ],
            "speed_kmh": 27.655464804190746,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.639264106750488,
                "transform": {
                    "location": {
                        "x": 669.8416748046875,
                        "y": 4296.96728515625,
                        "z": 369.8510437011719
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.32070469856262207,
                        "yaw": 0.13037894666194916
                    }
                },
                "velocity": {
                    "x": 7.6391448974609375,
                    "y": 0.010036774910986423,
                    "z": -0.04146808013319969
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.059233665466309,
                "transform": {
                    "location": {
                        "x": 669.9164428710938,
                        "y": 4293.7197265625,
                        "z": 369.85986328125
                    },
                    "rotation": {
                        "roll": 0.009461759589612484,
                        "pitch": -0.315677672624588,
                        "yaw": 0.11598467826843262
                    }
                },
                "velocity": {
                    "x": 8.059107780456543,
                    "y": 0.008345682173967361,
                    "z": -0.04425723850727081
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.777711391448975,
                "transform": {
                    "location": {
                        "x": 757.5743408203125,
                        "y": 4285.94287109375,
                        "z": 369.34375
                    },
                    "rotation": {
                        "roll": 0.0033630055841058493,
                        "pitch": 0.37360450625419617,
                        "yaw": 177.3527374267578
                    }
                },
                "velocity": {
                    "x": -5.771892070770264,
                    "y": 0.25686800479888916,
                    "z": 0.0349997878074646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.63747501373291,
                "transform": {
                    "location": {
                        "x": 742.8739624023438,
                        "y": 4286.5546875,
                        "z": 369.4376220703125
                    },
                    "rotation": {
                        "roll": -0.007232666481286287,
                        "pitch": 0.7232691645622253,
                        "yaw": 179.1696014404297
                    }
                },
                "velocity": {
                    "x": -7.6365814208984375,
                    "y": 0.10852538794279099,
                    "z": 0.04333074390888214
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.682073593139648,
                "transform": {
                    "location": {
                        "x": 711.7977294921875,
                        "y": 4286.85107421875,
                        "z": 369.6112365722656
                    },
                    "rotation": {
                        "roll": 0.007605086080729961,
                        "pitch": 0.9264604449272156,
                        "yaw": -179.9710235595703
                    }
                },
                "velocity": {
                    "x": -7.681939125061035,
                    "y": -0.008049601688981056,
                    "z": 0.044728219509124756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.827959060668945,
                "transform": {
                    "location": {
                        "x": 696.9427490234375,
                        "y": 4286.939453125,
                        "z": 369.7361755371094
                    },
                    "rotation": {
                        "roll": 0.004255329724401236,
                        "pitch": 0.5321058630943298,
                        "yaw": -179.85525512695312
                    }
                },
                "velocity": {
                    "x": -7.827820301055908,
                    "y": -0.01291451882570982,
                    "z": 0.04475622996687889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.132969856262207,
                "transform": {
                    "location": {
                        "x": 756.9819946289062,
                        "y": 4289.220703125,
                        "z": 369.3585205078125
                    },
                    "rotation": {
                        "roll": 0.004292186815291643,
                        "pitch": 0.22072437405586243,
                        "yaw": 177.40184020996094
                    }
                },
                "velocity": {
                    "x": -7.125746726989746,
                    "y": 0.3177978992462158,
                    "z": 0.0446748249232769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.152634620666504,
                "transform": {
                    "location": {
                        "x": 742.0408935546875,
                        "y": 4289.8125,
                        "z": 369.44659423828125
                    },
                    "rotation": {
                        "roll": 0.0032856708858162165,
                        "pitch": 0.19471502304077148,
                        "yaw": 179.04177856445312
                    }
                },
                "velocity": {
                    "x": -7.151772975921631,
                    "y": 0.10282380878925323,
                    "z": 0.04180806875228882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6170775890350342,
                "transform": {
                    "location": {
                        "x": 713.3250122070312,
                        "y": 4290.1025390625,
                        "z": 369.64581298828125
                    },
                    "rotation": {
                        "roll": 0.004927413538098335,
                        "pitch": -0.002226641634479165,
                        "yaw": -179.97061157226562
                    }
                },
                "velocity": {
                    "x": -0.617064893245697,
                    "y": -0.00044369156239554286,
                    "z": 0.003937187138944864
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.219234466552734,
                "transform": {
                    "location": {
                        "x": 699.8165283203125,
                        "y": 4290.19580078125,
                        "z": 369.6798095703125
                    },
                    "rotation": {
                        "roll": 0.00335704511962831,
                        "pitch": 0.35683637857437134,
                        "yaw": -179.81971740722656
                    }
                },
                "velocity": {
                    "x": -4.219157695770264,
                    "y": -0.008086901158094406,
                    "z": 0.024142693728208542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.008479751646518707,
        "expert_target_speed": 9.130199948482662,
        "target_point": [
            43.56541727223075,
            0.11343243539675507
        ],
        "target_point_next": [
            94.5652302904294,
            0.24284238597176133
        ]
    },
    "50": {
        "acceleration": [
            -5.710926055908203,
            0.1551257073879242,
            0.04161924123764038
        ],
        "angular_velocity": [
            0.07512732595205307,
            -0.2044464349746704,
            -0.5176091194152832
        ],
        "forward_vector": [
            -0.9997573494911194,
            0.010703910142183304,
            0.01925492286682129
        ],
        "right_vector": [
            -0.010714687407016754,
            -0.9999424815177917,
            -0.0004566437564790249
        ],
        "location": [
            722.3982543945312,
            4286.861328125,
            369.54888916015625
        ],
        "rotation": [
            0.026168612763285637,
            1.103294014930725,
            179.38658142089844
        ],
        "velocity": [
            -11.591362953186035,
            0.1303589642047882,
            0.0672258585691452
        ],
        "speed": 11.59209595250325,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.556441307067871,
        "front_vehicle_info": {
            "id": 3707,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                709.842041015625,
                4286.85107421875,
                369.6238098144531
            ],
            "velocity": [
                -7.5461907386779785,
                0.009189454838633537,
                0.04439432919025421
            ],
            "speed_kmh": 27.16677690807316,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.552682876586914,
                "transform": {
                    "location": {
                        "x": 671.7022705078125,
                        "y": 4296.9697265625,
                        "z": 369.8408203125
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.3189971446990967,
                        "yaw": 0.04381803423166275
                    }
                },
                "velocity": {
                    "x": 7.55256986618042,
                    "y": -0.003807885805144906,
                    "z": -0.04113193601369858
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.286124229431152,
                "transform": {
                    "location": {
                        "x": 671.9607543945312,
                        "y": 4293.7216796875,
                        "z": 369.8486328125
                    },
                    "rotation": {
                        "roll": 0.00641682418063283,
                        "pitch": -0.31433212757110596,
                        "yaw": 0.012220856733620167
                    }
                },
                "velocity": {
                    "x": 8.285992622375488,
                    "y": -0.008053580299019814,
                    "z": -0.04599340632557869
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.565634250640869,
                "transform": {
                    "location": {
                        "x": 756.0338745117188,
                        "y": 4286.01220703125,
                        "z": 369.3531494140625
                    },
                    "rotation": {
                        "roll": 0.0035504521802067757,
                        "pitch": 0.369096577167511,
                        "yaw": 177.40875244140625
                    }
                },
                "velocity": {
                    "x": -6.559077739715576,
                    "y": 0.2906087040901184,
                    "z": 0.039974573999643326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.030606269836426,
                "transform": {
                    "location": {
                        "x": 740.8353881835938,
                        "y": 4286.58447265625,
                        "z": 369.4500732421875
                    },
                    "rotation": {
                        "roll": -0.0021972653921693563,
                        "pitch": 0.6483420133590698,
                        "yaw": 179.2637481689453
                    }
                },
                "velocity": {
                    "x": -9.029627799987793,
                    "y": 0.12182619422674179,
                    "z": 0.053176190704107285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.546327114105225,
                "transform": {
                    "location": {
                        "x": 709.842041015625,
                        "y": 4286.85107421875,
                        "z": 369.6238098144531
                    },
                    "rotation": {
                        "roll": 0.021138150244951248,
                        "pitch": 0.585463285446167,
                        "yaw": -179.9932403564453
                    }
                },
                "velocity": {
                    "x": -7.5461907386779785,
                    "y": 0.009189454838633537,
                    "z": 0.04439432919025421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.27366828918457,
                "transform": {
                    "location": {
                        "x": 694.8802490234375,
                        "y": 4286.9384765625,
                        "z": 369.7488098144531
                    },
                    "rotation": {
                        "roll": 0.0100308358669281,
                        "pitch": 0.42735809087753296,
                        "yaw": -179.9911651611328
                    }
                },
                "velocity": {
                    "x": -8.273512840270996,
                    "y": 0.014853814616799355,
                    "z": 0.04858715832233429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.515552043914795,
                "transform": {
                    "location": {
                        "x": 755.1239013671875,
                        "y": 4289.3037109375,
                        "z": 369.3692932128906
                    },
                    "rotation": {
                        "roll": 0.0026438154745846987,
                        "pitch": 0.274682879447937,
                        "yaw": 177.4391326904297
                    }
                },
                "velocity": {
                    "x": -7.508052349090576,
                    "y": 0.3326932191848755,
                    "z": 0.04461463913321495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.195838928222656,
                "transform": {
                    "location": {
                        "x": 740.1083374023438,
                        "y": 4289.8408203125,
                        "z": 369.4577331542969
                    },
                    "rotation": {
                        "roll": 0.002593334298580885,
                        "pitch": 0.20786996185779572,
                        "yaw": 179.1290283203125
                    }
                },
                "velocity": {
                    "x": -8.194869041442871,
                    "y": 0.116941437125206,
                    "z": 0.047264497727155685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1729753017425537,
                "transform": {
                    "location": {
                        "x": 712.935302734375,
                        "y": 4290.1025390625,
                        "z": 369.64483642578125
                    },
                    "rotation": {
                        "roll": 0.0030590954702347517,
                        "pitch": 0.37620678544044495,
                        "yaw": -179.97811889648438
                    }
                },
                "velocity": {
                    "x": -2.1729331016540527,
                    "y": -0.0026007541455328465,
                    "z": 0.013275489211082458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.184385299682617,
                "transform": {
                    "location": {
                        "x": 698.638427734375,
                        "y": 4290.193359375,
                        "z": 369.6867370605469
                    },
                    "rotation": {
                        "roll": 0.001704079331830144,
                        "pitch": 0.3631884455680847,
                        "yaw": -179.86141967773438
                    }
                },
                "velocity": {
                    "x": -5.184272289276123,
                    "y": -0.009416542947292328,
                    "z": 0.032933156937360764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.020943885669112206,
        "expert_target_speed": 9.81341352603196,
        "target_point": [
            40.861234094335664,
            0.21041067541910902
        ],
        "target_point_next": [
            91.86062645032817,
            0.45465265802198696
        ]
    },
    "55": {
        "acceleration": [
            1.8367958068847656,
            -0.10942071676254272,
            0.0013852119445800781
        ],
        "angular_velocity": [
            -0.1540483981370926,
            -2.2494380474090576,
            0.7145920991897583
        ],
        "forward_vector": [
            -0.9998546838760376,
            0.010997483506798744,
            0.013024558313190937
        ],
        "right_vector": [
            -0.01099925022572279,
            -0.999939501285553,
            -6.400066922651604e-05
        ],
        "location": [
            719.429931640625,
            4286.8935546875,
            369.5675048828125
        ],
        "rotation": [
            0.003667279379442334,
            0.7462732791900635,
            179.3698272705078
        ],
        "velocity": [
            -11.828570365905762,
            0.12464043498039246,
            0.06851795315742493
        ],
        "speed": 11.829227030504406,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.294099807739258,
        "front_vehicle_info": {
            "id": 3707,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                708.1361083984375,
                4286.85400390625,
                369.6358642578125
            ],
            "velocity": [
                -5.997110366821289,
                0.011718095280230045,
                0.03545088693499565
            ],
            "speed_kmh": 21.590015741760354,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.433013916015625,
                "transform": {
                    "location": {
                        "x": 673.7213745117188,
                        "y": 4296.966796875,
                        "z": 369.82952880859375
                    },
                    "rotation": {
                        "roll": 0.0004899099003523588,
                        "pitch": -0.29919642210006714,
                        "yaw": -0.099884033203125
                    }
                },
                "velocity": {
                    "x": 8.432861328125,
                    "y": -0.022415604442358017,
                    "z": -0.04555732011795044
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.068499565124512,
                "transform": {
                    "location": {
                        "x": 674.00390625,
                        "y": 4293.71875,
                        "z": 369.83740234375
                    },
                    "rotation": {
                        "roll": 0.011765295639634132,
                        "pitch": -0.3202538788318634,
                        "yaw": -0.1265868991613388
                    }
                },
                "velocity": {
                    "x": 8.068343162536621,
                    "y": -0.02314549870789051,
                    "z": -0.04466394707560539
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.865768909454346,
                "transform": {
                    "location": {
                        "x": 754.33984375,
                        "y": 4286.0869140625,
                        "z": 369.3636779785156
                    },
                    "rotation": {
                        "roll": 0.000279161729849875,
                        "pitch": 0.3515293300151825,
                        "yaw": 177.45867919921875
                    }
                },
                "velocity": {
                    "x": -6.859006404876709,
                    "y": 0.3018289804458618,
                    "z": 0.04136677831411362
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.79333209991455,
                "transform": {
                    "location": {
                        "x": 738.4375610351562,
                        "y": 4286.61669921875,
                        "z": 369.464599609375
                    },
                    "rotation": {
                        "roll": -0.004882811103016138,
                        "pitch": 0.5975117683410645,
                        "yaw": 179.29638671875
                    }
                },
                "velocity": {
                    "x": -9.792448997497559,
                    "y": 0.11869341880083084,
                    "z": 0.05653303116559982
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.997226238250732,
                "transform": {
                    "location": {
                        "x": 708.1361083984375,
                        "y": 4286.85400390625,
                        "z": 369.6358642578125
                    },
                    "rotation": {
                        "roll": 0.013181172311306,
                        "pitch": 0.015190339647233486,
                        "yaw": 179.89976501464844
                    }
                },
                "velocity": {
                    "x": -5.997110366821289,
                    "y": 0.011718095280230045,
                    "z": 0.03545088693499565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.837887763977051,
                "transform": {
                    "location": {
                        "x": 692.8756713867188,
                        "y": 4286.94140625,
                        "z": 369.7613220214844
                    },
                    "rotation": {
                        "roll": 0.004472298547625542,
                        "pitch": 0.3123035430908203,
                        "yaw": 179.88287353515625
                    }
                },
                "velocity": {
                    "x": -7.837734222412109,
                    "y": 0.02047029510140419,
                    "z": 0.04461906477808952
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.182641983032227,
                "transform": {
                    "location": {
                        "x": 753.1724853515625,
                        "y": 4289.38818359375,
                        "z": 369.38092041015625
                    },
                    "rotation": {
                        "roll": 0.009082003496587276,
                        "pitch": 0.27784526348114014,
                        "yaw": 177.53118896484375
                    }
                },
                "velocity": {
                    "x": -8.176149368286133,
                    "y": 0.32254353165626526,
                    "z": 0.04672471806406975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.148000717163086,
                "transform": {
                    "location": {
                        "x": 737.9338989257812,
                        "y": 4289.87060546875,
                        "z": 369.4701843261719
                    },
                    "rotation": {
                        "roll": 0.009978070855140686,
                        "pitch": 0.2373763769865036,
                        "yaw": 179.23463439941406
                    }
                },
                "velocity": {
                    "x": -9.147330284118652,
                    "y": 0.09730372577905655,
                    "z": 0.05285564437508583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.345181941986084,
                "transform": {
                    "location": {
                        "x": 712.3787231445312,
                        "y": 4290.10302734375,
                        "z": 369.6481628417969
                    },
                    "rotation": {
                        "roll": 0.001913300366140902,
                        "pitch": 0.36709532141685486,
                        "yaw": -179.95449829101562
                    }
                },
                "velocity": {
                    "x": -2.345134735107422,
                    "y": -0.004080724902451038,
                    "z": 0.014307918027043343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.432894229888916,
                "transform": {
                    "location": {
                        "x": 697.316162109375,
                        "y": 4290.19140625,
                        "z": 369.6946716308594
                    },
                    "rotation": {
                        "roll": 0.003205154789611697,
                        "pitch": 0.34364044666290283,
                        "yaw": -179.8677215576172
                    }
                },
                "velocity": {
                    "x": -5.432805061340332,
                    "y": -0.009831953793764114,
                    "z": 0.02951238490641117
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.02631126344203949,
        "expert_target_speed": 9.200946794629289,
        "target_point": [
            37.892673187480874,
            0.22193340718653745
        ],
        "target_point_next": [
            88.89199197256168,
            0.48108256160496743
        ]
    },
    "60": {
        "acceleration": [
            2.6549148559570312,
            -0.28700798749923706,
            -0.016708076000213623
        ],
        "angular_velocity": [
            -0.1821906417608261,
            -1.1402311325073242,
            -0.3546351492404938
        ],
        "forward_vector": [
            -0.9999579787254333,
            0.007488226983696222,
            0.005296801216900349
        ],
        "right_vector": [
            -0.007484572008252144,
            -0.9999717473983765,
            0.0007094559841789305
        ],
        "location": [
            716.5578002929688,
            4286.91845703125,
            369.5858154296875
        ],
        "rotation": [
            -0.0406494066119194,
            0.30348578095436096,
            179.57095336914062
        ],
        "velocity": [
            -11.186599731445312,
            0.06939021497964859,
            0.0659853145480156
        ],
        "speed": 11.186814942310757,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.807549476623535,
        "front_vehicle_info": {
            "id": 3707,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                706.7506103515625,
                4286.85791015625,
                369.64404296875
            ],
            "velocity": [
                -5.358285903930664,
                0.011619352735579014,
                0.032434966415166855
            ],
            "speed_kmh": 19.29022800917803,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9870381355285645,
                "transform": {
                    "location": {
                        "x": 675.7802124023438,
                        "y": 4296.9619140625,
                        "z": 369.8184814453125
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": -0.32098472118377686,
                        "yaw": -0.1827087104320526
                    }
                },
                "velocity": {
                    "x": 7.986867427825928,
                    "y": -0.027141308411955833,
                    "z": -0.04463557153940201
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.295660018920898,
                "transform": {
                    "location": {
                        "x": 676.0505981445312,
                        "y": 4293.71240234375,
                        "z": 369.8260498046875
                    },
                    "rotation": {
                        "roll": 0.005191470962017775,
                        "pitch": -0.3155888617038727,
                        "yaw": -0.20697021484375
                    }
                },
                "velocity": {
                    "x": 8.295475006103516,
                    "y": -0.0307838823646307,
                    "z": -0.04604123905301094
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.271938323974609,
                "transform": {
                    "location": {
                        "x": 752.5792846679688,
                        "y": 4286.1630859375,
                        "z": 369.3741760253906
                    },
                    "rotation": {
                        "roll": -0.0013122559757903218,
                        "pitch": 0.34807324409484863,
                        "yaw": 177.56015014648438
                    }
                },
                "velocity": {
                    "x": -7.265894412994385,
                    "y": 0.2935125529766083,
                    "z": 0.04143548011779785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.959917068481445,
                "transform": {
                    "location": {
                        "x": 735.8259887695312,
                        "y": 4286.64501953125,
                        "z": 369.4802551269531
                    },
                    "rotation": {
                        "roll": -0.01672363094985485,
                        "pitch": 0.5480679869651794,
                        "yaw": 179.4159393310547
                    }
                },
                "velocity": {
                    "x": -10.959163665771484,
                    "y": 0.1109391450881958,
                    "z": 0.06478116661310196
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.358396530151367,
                "transform": {
                    "location": {
                        "x": 706.7506103515625,
                        "y": 4286.85791015625,
                        "z": 369.64404296875
                    },
                    "rotation": {
                        "roll": 0.0073342155665159225,
                        "pitch": -0.030182603746652603,
                        "yaw": 179.90802001953125
                    }
                },
                "velocity": {
                    "x": -5.358285903930664,
                    "y": 0.011619352735579014,
                    "z": 0.032434966415166855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077555656433105,
                "transform": {
                    "location": {
                        "x": 690.8976440429688,
                        "y": 4286.947265625,
                        "z": 369.7723388671875
                    },
                    "rotation": {
                        "roll": 0.002978866919875145,
                        "pitch": 0.3452114164829254,
                        "yaw": 179.84957885742188
                    }
                },
                "velocity": {
                    "x": -8.077397346496582,
                    "y": 0.020977575331926346,
                    "z": 0.04595557227730751
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.981466293334961,
                "transform": {
                    "location": {
                        "x": 751.0265502929688,
                        "y": 4289.47314453125,
                        "z": 369.39361572265625
                    },
                    "rotation": {
                        "roll": 0.004459237214177847,
                        "pitch": 0.24990977346897125,
                        "yaw": 177.71923828125
                    }
                },
                "velocity": {
                    "x": -8.974641799926758,
                    "y": 0.3460603654384613,
                    "z": 0.05271494761109352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.969143867492676,
                "transform": {
                    "location": {
                        "x": 735.5403442382812,
                        "y": 4289.8955078125,
                        "z": 369.484130859375
                    },
                    "rotation": {
                        "roll": 0.0034904177300632,
                        "pitch": 0.24368064105510712,
                        "yaw": 179.39122009277344
                    }
                },
                "velocity": {
                    "x": -9.968490600585938,
                    "y": 0.09872545301914215,
                    "z": 0.05723952129483223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.453361749649048,
                "transform": {
                    "location": {
                        "x": 711.6644897460938,
                        "y": 4290.1015625,
                        "z": 369.6517639160156
                    },
                    "rotation": {
                        "roll": 0.0026039239019155502,
                        "pitch": 0.4303770363330841,
                        "yaw": -179.94654846191406
                    }
                },
                "velocity": {
                    "x": -3.453301429748535,
                    "y": -0.004772179294377565,
                    "z": 0.019817542284727097
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.548323631286621,
                "transform": {
                    "location": {
                        "x": 695.8190307617188,
                        "y": 4290.189453125,
                        "z": 369.7029113769531
                    },
                    "rotation": {
                        "roll": 0.0026848975103348494,
                        "pitch": 0.3600875437259674,
                        "yaw": -179.85853576660156
                    }
                },
                "velocity": {
                    "x": -6.548215389251709,
                    "y": -0.002795879263430834,
                    "z": 0.037562720477581024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0218372605741024,
        "expert_target_speed": 7.8957034791395655,
        "target_point": [
            35.020981456027926,
            0.09232373503309355
        ],
        "target_point_next": [
            86.02089569460735,
            0.17246413731249027
        ]
    },
    "65": {
        "acceleration": [
            -0.664825439453125,
            -0.26392388343811035,
            -0.0016185641288757324
        ],
        "angular_velocity": [
            -0.06381956487894058,
            0.4846319854259491,
            2.9518489837646484
        ],
        "forward_vector": [
            -0.9999881386756897,
            0.001362697803415358,
            0.004670006688684225
        ],
        "right_vector": [
            -0.0013568836729973555,
            -0.9999982714653015,
            0.001247942796908319
        ],
        "location": [
            713.7926635742188,
            4286.9287109375,
            369.60211181640625
        ],
        "rotation": [
            -0.07150265574455261,
            0.26757264137268066,
            179.9219207763672
        ],
        "velocity": [
            -11.08047103881836,
            0.0037749293260276318,
            0.06448184698820114
        ],
        "speed": 11.08047168184567,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.411602020263672,
        "front_vehicle_info": {
            "id": 3707,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                705.3814697265625,
                4286.86181640625,
                369.65093994140625
            ],
            "velocity": [
                -5.96375036239624,
                0.02254892699420452,
                0.034963589161634445
            ],
            "speed_kmh": 21.470023726579203,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 636.3670654296875,
                        "y": 4297.10595703125,
                        "z": 370.203857421875
                    },
                    "rotation": {
                        "roll": -5.2110895459867024e-11,
                        "pitch": -0.294271856546402,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 636.3477783203125,
                        "y": 4293.85595703125,
                        "z": 370.2038879394531
                    },
                    "rotation": {
                        "roll": -5.2110895459867024e-11,
                        "pitch": -0.294271856546402,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.00821590423584,
                "transform": {
                    "location": {
                        "x": 677.7612915039062,
                        "y": 4296.9541015625,
                        "z": 369.807373046875
                    },
                    "rotation": {
                        "roll": 0.0007862383499741554,
                        "pitch": -0.320520281791687,
                        "yaw": -0.230224609375
                    }
                },
                "velocity": {
                    "x": 8.008012771606445,
                    "y": -0.035849783569574356,
                    "z": -0.04443976655602455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07789421081543,
                "transform": {
                    "location": {
                        "x": 678.0960693359375,
                        "y": 4293.70361328125,
                        "z": 369.8147888183594
                    },
                    "rotation": {
                        "roll": 0.004881267435848713,
                        "pitch": -0.32180434465408325,
                        "yaw": -0.2584838569164276
                    }
                },
                "velocity": {
                    "x": 8.077677726745605,
                    "y": -0.03850900009274483,
                    "z": -0.04484950006008148
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.955461025238037,
                "transform": {
                    "location": {
                        "x": 750.6760864257812,
                        "y": 4286.2392578125,
                        "z": 369.38531494140625
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": 0.35215088725090027,
                        "yaw": 177.7382354736328
                    }
                },
                "velocity": {
                    "x": -7.949472904205322,
                    "y": 0.3051741123199463,
                    "z": 0.04593975841999054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.080605506896973,
                "transform": {
                    "location": {
                        "x": 733.0494995117188,
                        "y": 4286.6728515625,
                        "z": 369.4976501464844
                    },
                    "rotation": {
                        "roll": -0.01022338680922985,
                        "pitch": 0.4147222340106964,
                        "yaw": 179.4955596923828
                    }
                },
                "velocity": {
                    "x": -11.080005645751953,
                    "y": 0.09564590454101562,
                    "z": 0.0643533319234848
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.963895320892334,
                "transform": {
                    "location": {
                        "x": 705.3814697265625,
                        "y": 4286.86181640625,
                        "z": 369.65093994140625
                    },
                    "rotation": {
                        "roll": 0.012543737888336182,
                        "pitch": 0.28953853249549866,
                        "yaw": 179.9069061279297
                    }
                },
                "velocity": {
                    "x": -5.96375036239624,
                    "y": 0.02254892699420452,
                    "z": 0.034963589161634445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.089090347290039,
                "transform": {
                    "location": {
                        "x": 688.86279296875,
                        "y": 4286.955078125,
                        "z": 369.7840576171875
                    },
                    "rotation": {
                        "roll": 0.004103950224816799,
                        "pitch": 0.32931071519851685,
                        "yaw": 179.77755737304688
                    }
                },
                "velocity": {
                    "x": -8.088886260986328,
                    "y": 0.03581821173429489,
                    "z": 0.04496496915817261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.897693634033203,
                "transform": {
                    "location": {
                        "x": 748.6629028320312,
                        "y": 4289.564453125,
                        "z": 369.40753173828125
                    },
                    "rotation": {
                        "roll": 0.000610960996709764,
                        "pitch": 0.24406996369361877,
                        "yaw": 177.78610229492188
                    }
                },
                "velocity": {
                    "x": -9.890220642089844,
                    "y": 0.3802548944950104,
                    "z": 0.05725794658064842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.632113456726074,
                "transform": {
                    "location": {
                        "x": 732.9400024414062,
                        "y": 4289.92041015625,
                        "z": 369.4991760253906
                    },
                    "rotation": {
                        "roll": 0.005804304964840412,
                        "pitch": 0.26051023602485657,
                        "yaw": 179.4771270751953
                    }
                },
                "velocity": {
                    "x": -10.631620407104492,
                    "y": 0.08229277282953262,
                    "z": 0.06095417961478233
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.774946689605713,
                "transform": {
                    "location": {
                        "x": 710.6270751953125,
                        "y": 4290.1005859375,
                        "z": 369.65740966796875
                    },
                    "rotation": {
                        "roll": 0.008046934381127357,
                        "pitch": 0.4704838991165161,
                        "yaw": -179.97512817382812
                    }
                },
                "velocity": {
                    "x": -4.774855136871338,
                    "y": 0.010333729907870293,
                    "z": 0.02769923210144043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5038533210754395,
                "transform": {
                    "location": {
                        "x": 694.0505981445312,
                        "y": 4290.189453125,
                        "z": 369.7130432128906
                    },
                    "rotation": {
                        "roll": 0.004176103975623846,
                        "pitch": 0.36464327573776245,
                        "yaw": -179.98101806640625
                    }
                },
                "velocity": {
                    "x": -7.503725528717041,
                    "y": 0.011006532236933708,
                    "z": 0.04232669621706009
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.002589573385193944,
        "expert_target_speed": 6.423112616187578,
        "target_point": [
            32.25574178528246,
            -0.11572571091288142
        ],
        "target_point_next": [
            83.2551900216228,
            -0.34800660848028864
        ]
    },
    "70": {
        "acceleration": [
            -0.177001953125,
            -0.27580320835113525,
            0.00615730881690979
        ],
        "angular_velocity": [
            -0.07602419704198837,
            0.0923161506652832,
            -0.17399479448795319
        ],
        "forward_vector": [
            -0.9999708533287048,
            -0.0043740784749388695,
            0.006251771003007889
        ],
        "right_vector": [
            0.004383589141070843,
            -0.9999892115592957,
            0.0015083838952705264
        ],
        "location": [
            710.9994506835938,
            4286.921875,
            369.6179504394531
        ],
        "rotation": [
            -0.08642575144767761,
            0.35820242762565613,
            -179.74937438964844
        ],
        "velocity": [
            -11.218860626220703,
            -0.06389305740594864,
            0.06429755687713623
        ],
        "speed": 11.2190425649139,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 68.51075744628906,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 638.4486083984375,
                        "y": 4297.09375,
                        "z": 370.12066650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.29892322421073914,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 638.4293823242188,
                        "y": 4293.84375,
                        "z": 370.1206970214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.29892322421073914,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.154640197753906,
                "transform": {
                    "location": {
                        "x": 679.7944946289062,
                        "y": 4296.94482421875,
                        "z": 369.79595947265625
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": -0.31744667887687683,
                        "yaw": -0.2758484184741974
                    }
                },
                "velocity": {
                    "x": 8.154413223266602,
                    "y": -0.040961094200611115,
                    "z": -0.04506776109337807
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.304594039916992,
                "transform": {
                    "location": {
                        "x": 680.1449584960938,
                        "y": 4293.6943359375,
                        "z": 369.8033142089844
                    },
                    "rotation": {
                        "roll": 0.0011484890710562468,
                        "pitch": -0.32006949186325073,
                        "yaw": -0.2929992377758026
                    }
                },
                "velocity": {
                    "x": 8.304353713989258,
                    "y": -0.04311423748731613,
                    "z": -0.04618455469608307
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.64076042175293,
                "transform": {
                    "location": {
                        "x": 748.60107421875,
                        "y": 4286.31884765625,
                        "z": 369.3974914550781
                    },
                    "rotation": {
                        "roll": -0.0001220706762978807,
                        "pitch": 0.3530319631099701,
                        "yaw": 177.8294219970703
                    }
                },
                "velocity": {
                    "x": -8.634483337402344,
                    "y": 0.3254741132259369,
                    "z": 0.05004206672310829
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.549773216247559,
                "transform": {
                    "location": {
                        "x": 730.34765625,
                        "y": 4286.69482421875,
                        "z": 369.51507568359375
                    },
                    "rotation": {
                        "roll": -0.012939453125,
                        "pitch": 0.2025834023952484,
                        "yaw": 179.55104064941406
                    }
                },
                "velocity": {
                    "x": -10.54930305480957,
                    "y": 0.07763022929430008,
                    "z": 0.06242406740784645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1907958984375,
                        "y": 4287.4326171875,
                        "z": 370.25396728515625
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.047444343566895,
                "transform": {
                    "location": {
                        "x": 746.1273193359375,
                        "y": 4289.6484375,
                        "z": 369.42181396484375
                    },
                    "rotation": {
                        "roll": 0.010731637477874756,
                        "pitch": 0.2979191839694977,
                        "yaw": 178.1370849609375
                    }
                },
                "velocity": {
                    "x": -10.042609214782715,
                    "y": 0.30589550733566284,
                    "z": 0.059674110263586044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.418067932128906,
                "transform": {
                    "location": {
                        "x": 730.4203491210938,
                        "y": 4289.939453125,
                        "z": 369.5125427246094
                    },
                    "rotation": {
                        "roll": 0.0015617581084370613,
                        "pitch": 0.4129805266857147,
                        "yaw": 179.5707550048828
                    }
                },
                "velocity": {
                    "x": -9.417662620544434,
                    "y": 0.06782463192939758,
                    "z": 0.05512164160609245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.341159343719482,
                "transform": {
                    "location": {
                        "x": 709.327392578125,
                        "y": 4290.1025390625,
                        "z": 369.6658020019531
                    },
                    "rotation": {
                        "roll": 0.003970598801970482,
                        "pitch": 0.4117306172847748,
                        "yaw": 179.99392700195312
                    }
                },
                "velocity": {
                    "x": -5.341063499450684,
                    "y": 0.011645819991827011,
                    "z": 0.029831932857632637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.638978004455566,
                "transform": {
                    "location": {
                        "x": 692.0530395507812,
                        "y": 4290.19189453125,
                        "z": 369.7243957519531
                    },
                    "rotation": {
                        "roll": 0.0026137938257306814,
                        "pitch": 0.37003231048583984,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": -8.638811111450195,
                    "y": 0.021695613861083984,
                    "z": 0.048989780247211456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02533266320824623,
        "expert_target_speed": 10.0,
        "target_point": [
            29.461331035929962,
            -0.29538538592162134
        ],
        "target_point_next": [
            80.45860749999711,
            -0.8202359113432625
        ]
    },
    "75": {
        "acceleration": [
            -1.9544219970703125,
            -0.298113077878952,
            0.009508579969406128
        ],
        "angular_velocity": [
            0.030849674716591835,
            0.5158355236053467,
            2.70741868019104
        ],
        "forward_vector": [
            -0.9999222755432129,
            -0.01068874727934599,
            0.006419733166694641
        ],
        "right_vector": [
            0.0106991957873106,
            -0.9999415278434753,
            0.001595199923031032
        ],
        "location": [
            708.19482421875,
            4286.8984375,
            369.6342468261719
        ],
        "rotation": [
            -0.0914001539349556,
            0.3678261637687683,
            -179.38755798339844
        ],
        "velocity": [
            -11.318389892578125,
            -0.13311375677585602,
            0.06525682657957077
        ],
        "speed": 11.319172630217176,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 65.70599365234375,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.091714859008789,
                "transform": {
                    "location": {
                        "x": 640.5192260742188,
                        "y": 4297.08349609375,
                        "z": 370.03826904296875
                    },
                    "rotation": {
                        "roll": -0.02124023251235485,
                        "pitch": -0.3307177424430847,
                        "yaw": -0.257415771484375
                    }
                },
                "velocity": {
                    "x": 8.087246894836426,
                    "y": 0.003790762973949313,
                    "z": -0.268838107585907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.137889862060547,
                "transform": {
                    "location": {
                        "x": 640.491943359375,
                        "y": 4293.8369140625,
                        "z": 370.0404968261719
                    },
                    "rotation": {
                        "roll": -0.047210693359375,
                        "pitch": -0.3356013298034668,
                        "yaw": -0.1273498386144638
                    }
                },
                "velocity": {
                    "x": 8.134474754333496,
                    "y": 0.022847099229693413,
                    "z": -0.23465166985988617
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.018776893615723,
                "transform": {
                    "location": {
                        "x": 681.8135986328125,
                        "y": 4296.93505859375,
                        "z": 369.7847900390625
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": -0.323388934135437,
                        "yaw": -0.3031005263328552
                    }
                },
                "velocity": {
                    "x": 8.018528938293457,
                    "y": -0.04382113367319107,
                    "z": -0.045383766293525696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.087661743164062,
                "transform": {
                    "location": {
                        "x": 682.1928100585938,
                        "y": 4293.68359375,
                        "z": 369.7919006347656
                    },
                    "rotation": {
                        "roll": 0.0009039732394739985,
                        "pitch": -0.32323867082595825,
                        "yaw": -0.3064879775047302
                    }
                },
                "velocity": {
                    "x": 8.087414741516113,
                    "y": -0.04438190534710884,
                    "z": -0.04498155042529106
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.440142631530762,
                "transform": {
                    "location": {
                        "x": 746.3389892578125,
                        "y": 4286.396484375,
                        "z": 369.4107666015625
                    },
                    "rotation": {
                        "roll": -0.0033264150843024254,
                        "pitch": 0.3553747236728668,
                        "yaw": 178.10458374023438
                    }
                },
                "velocity": {
                    "x": -9.43537712097168,
                    "y": 0.29492637515068054,
                    "z": 0.05438293516635895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.769976615905762,
                "transform": {
                    "location": {
                        "x": 727.6965942382812,
                        "y": 4286.71337890625,
                        "z": 369.52972412109375
                    },
                    "rotation": {
                        "roll": -0.00592041015625,
                        "pitch": 0.3248984217643738,
                        "yaw": 179.63787841796875
                    }
                },
                "velocity": {
                    "x": -10.769577026367188,
                    "y": 0.06997411698102951,
                    "z": 0.0608912818133831
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1907958984375,
                        "y": 4287.4326171875,
                        "z": 370.25396728515625
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.923079490661621,
                "transform": {
                    "location": {
                        "x": 743.771728515625,
                        "y": 4289.72021484375,
                        "z": 369.4345703125
                    },
                    "rotation": {
                        "roll": 0.0016462219646200538,
                        "pitch": 0.4277473986148834,
                        "yaw": 178.26853942871094
                    }
                },
                "velocity": {
                    "x": -8.918971061706543,
                    "y": 0.2654922902584076,
                    "z": 0.05303572490811348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.083536148071289,
                "transform": {
                    "location": {
                        "x": 728.1481323242188,
                        "y": 4289.95556640625,
                        "z": 369.5260314941406
                    },
                    "rotation": {
                        "roll": 0.0015170661499723792,
                        "pitch": 0.3811928331851959,
                        "yaw": 179.59725952148438
                    }
                },
                "velocity": {
                    "x": -9.083169937133789,
                    "y": 0.06183677911758423,
                    "z": 0.05324767902493477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.784947395324707,
                "transform": {
                    "location": {
                        "x": 707.9443359375,
                        "y": 4290.10595703125,
                        "z": 369.6740417480469
                    },
                    "rotation": {
                        "roll": 0.0032203232403844595,
                        "pitch": 0.37876129150390625,
                        "yaw": 179.92498779296875
                    }
                },
                "velocity": {
                    "x": -5.7848381996154785,
                    "y": 0.011887063272297382,
                    "z": 0.033511266112327576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.321105003356934,
                "transform": {
                    "location": {
                        "x": 689.9263916015625,
                        "y": 4290.1982421875,
                        "z": 369.73681640625
                    },
                    "rotation": {
                        "roll": 0.0034366215113550425,
                        "pitch": 0.3260185718536377,
                        "yaw": 179.79371643066406
                    }
                },
                "velocity": {
                    "x": -8.320910453796387,
                    "y": 0.030141456052660942,
                    "z": 0.048352841287851334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0622522309422493,
        "expert_target_speed": 10.0,
        "target_point": [
            26.654161599880336,
            -0.47487665341838187
        ],
        "target_point_next": [
            77.64710700027766,
            -1.3217498544530826
        ]
    },
    "80": {
        "acceleration": [
            -5.015277862548828,
            0.20055770874023438,
            0.036640465259552
        ],
        "angular_velocity": [
            0.4307859539985657,
            1.1024165153503418,
            -0.9067419171333313
        ],
        "forward_vector": [
            -0.9998578429222107,
            -0.012707692570984364,
            0.011078250594437122
        ],
        "right_vector": [
            0.012714524753391743,
            -0.9999189972877502,
            0.0005464471760205925
        ],
        "location": [
            705.234619140625,
            4286.86181640625,
            369.650390625
        ],
        "rotation": [
            -0.0313110388815403,
            0.6347499489784241,
            -179.27183532714844
        ],
        "velocity": [
            -12.395064353942871,
            -0.14173881709575653,
            0.07196363061666489
        ],
        "speed": 12.395874726321532,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 62.74552536010742,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.110648155212402,
                "transform": {
                    "location": {
                        "x": 642.5445556640625,
                        "y": 4297.08984375,
                        "z": 370.0050964355469
                    },
                    "rotation": {
                        "roll": -0.01541137509047985,
                        "pitch": -0.31194838881492615,
                        "yaw": 0.1826261281967163
                    }
                },
                "velocity": {
                    "x": 8.11029052734375,
                    "y": 0.024057898670434952,
                    "z": -0.07221758365631104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.12894344329834,
                "transform": {
                    "location": {
                        "x": 642.5253295898438,
                        "y": 4293.8447265625,
                        "z": 370.007568359375
                    },
                    "rotation": {
                        "roll": -0.015777587890625,
                        "pitch": -0.31072577834129333,
                        "yaw": 0.20437884330749512
                    }
                },
                "velocity": {
                    "x": 8.128528594970703,
                    "y": 0.02651611715555191,
                    "z": -0.07779022306203842
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067082405090332,
                "transform": {
                    "location": {
                        "x": 683.8206787109375,
                        "y": 4296.9228515625,
                        "z": 369.7734680175781
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": -0.3213467299938202,
                        "yaw": -0.3148498237133026
                    }
                },
                "velocity": {
                    "x": 8.066837310791016,
                    "y": -0.04417877644300461,
                    "z": -0.044623229652643204
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.314786911010742,
                "transform": {
                    "location": {
                        "x": 684.2440185546875,
                        "y": 4293.671875,
                        "z": 369.78033447265625
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.32150381803512573,
                        "yaw": -0.3151550590991974
                    }
                },
                "velocity": {
                    "x": 8.314535140991211,
                    "y": -0.04555366560816765,
                    "z": -0.046001456677913666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.227340698242188,
                "transform": {
                    "location": {
                        "x": 743.8789672851562,
                        "y": 4286.47216796875,
                        "z": 369.4251403808594
                    },
                    "rotation": {
                        "roll": -0.0029296870343387127,
                        "pitch": 0.35464388132095337,
                        "yaw": 178.31834411621094
                    }
                },
                "velocity": {
                    "x": -10.222848892211914,
                    "y": 0.297200083732605,
                    "z": 0.05941769480705261
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.404438972473145,
                "transform": {
                    "location": {
                        "x": 724.9306640625,
                        "y": 4286.73095703125,
                        "z": 369.5442199707031
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": 0.48909616470336914,
                        "yaw": 179.6400909423828
                    }
                },
                "velocity": {
                    "x": -11.40402889251709,
                    "y": 0.07114085555076599,
                    "z": 0.06541303545236588
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1907958984375,
                        "y": 4287.4326171875,
                        "z": 370.25396728515625
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.158992290496826,
                "transform": {
                    "location": {
                        "x": 741.7195434570312,
                        "y": 4289.77001953125,
                        "z": 369.4459533691406
                    },
                    "rotation": {
                        "roll": 0.00854930654168129,
                        "pitch": 0.5076674222946167,
                        "yaw": 178.62953186035156
                    }
                },
                "velocity": {
                    "x": -7.157318592071533,
                    "y": 0.14924389123916626,
                    "z": 0.04108292609453201
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.212000846862793,
                "transform": {
                    "location": {
                        "x": 725.830078125,
                        "y": 4289.97119140625,
                        "z": 369.5400390625
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": 0.3198167681694031,
                        "yaw": 179.61004638671875
                    }
                },
                "velocity": {
                    "x": -9.211638450622559,
                    "y": 0.06272909045219421,
                    "z": 0.052305515855550766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.256474494934082,
                "transform": {
                    "location": {
                        "x": 706.1124267578125,
                        "y": 4290.10986328125,
                        "z": 369.6832580566406
                    },
                    "rotation": {
                        "roll": 0.003272096160799265,
                        "pitch": 0.5376246571540833,
                        "yaw": 179.88616943359375
                    }
                },
                "velocity": {
                    "x": -8.256314277648926,
                    "y": 0.020489292219281197,
                    "z": 0.04708051681518555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.994510173797607,
                "transform": {
                    "location": {
                        "x": 687.8917846679688,
                        "y": 4290.20556640625,
                        "z": 369.74859619140625
                    },
                    "rotation": {
                        "roll": 0.003338657086715102,
                        "pitch": 0.31395646929740906,
                        "yaw": 179.7315216064453
                    }
                },
                "velocity": {
                    "x": -7.994303226470947,
                    "y": 0.03665781766176224,
                    "z": 0.0443137064576149
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.08944693207740784,
        "expert_target_speed": 10.0,
        "target_point": [
            23.692716861870537,
            -0.5277000677789453
        ],
        "target_point_next": [
            74.68384810861451,
            -1.47754689956991
        ]
    },
    "85": {
        "acceleration": [
            -3.2180023193359375,
            0.1385439932346344,
            0.026082992553710938
        ],
        "angular_velocity": [
            0.06919045001268387,
            -0.2481679767370224,
            -1.4456658363342285
        ],
        "forward_vector": [
            -0.9998834729194641,
            -0.0050426353700459,
            0.014411665499210358
        ],
        "right_vector": [
            0.005026871804147959,
            -0.9999867081642151,
            -0.0011298395693302155
        ],
        "location": [
            701.9652709960938,
            4286.83642578125,
            369.6686706542969
        ],
        "rotation": [
            0.06474177539348602,
            0.8257561922073364,
            -179.71104431152344
        ],
        "velocity": [
            -13.605802536010742,
            -0.0680377408862114,
            0.07853808999061584
        ],
        "speed": 13.605972651122787,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 59.47603988647461,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.088390350341797,
                "transform": {
                    "location": {
                        "x": 644.5693969726562,
                        "y": 4297.095703125,
                        "z": 369.9913330078125
                    },
                    "rotation": {
                        "roll": -0.00701904296875,
                        "pitch": -0.3042576014995575,
                        "yaw": 0.1924711912870407
                    }
                },
                "velocity": {
                    "x": 8.088210105895996,
                    "y": 0.02718440070748329,
                    "z": -0.04673584923148155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.136092185974121,
                "transform": {
                    "location": {
                        "x": 644.5586547851562,
                        "y": 4293.8505859375,
                        "z": 369.99310302734375
                    },
                    "rotation": {
                        "roll": -0.005828857887536287,
                        "pitch": -0.30383411049842834,
                        "yaw": 0.17860622704029083
                    }
                },
                "velocity": {
                    "x": 8.135910987854004,
                    "y": 0.024565687403082848,
                    "z": -0.04840542748570442
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.100275039672852,
                "transform": {
                    "location": {
                        "x": 685.8460083007812,
                        "y": 4296.91162109375,
                        "z": 369.7621154785156
                    },
                    "rotation": {
                        "roll": 0.0005437813233584166,
                        "pitch": -0.32299962639808655,
                        "yaw": -0.3160400390625
                    }
                },
                "velocity": {
                    "x": 8.100025177001953,
                    "y": -0.0446028895676136,
                    "z": -0.04536143317818642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.097164154052734,
                "transform": {
                    "location": {
                        "x": 686.2943725585938,
                        "y": 4293.66064453125,
                        "z": 369.76885986328125
                    },
                    "rotation": {
                        "roll": 0.0006239879294298589,
                        "pitch": -0.3275485336780548,
                        "yaw": -0.3204345107078552
                    }
                },
                "velocity": {
                    "x": 8.096908569335938,
                    "y": -0.04609210789203644,
                    "z": -0.04485519602894783
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.114048957824707,
                "transform": {
                    "location": {
                        "x": 741.2086791992188,
                        "y": 4286.54052734375,
                        "z": 369.44085693359375
                    },
                    "rotation": {
                        "roll": -0.005706787109375,
                        "pitch": 0.35819560289382935,
                        "yaw": 178.67718505859375
                    }
                },
                "velocity": {
                    "x": -11.111214637756348,
                    "y": 0.24246449768543243,
                    "z": 0.06480126827955246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.084057807922363,
                "transform": {
                    "location": {
                        "x": 722.0281982421875,
                        "y": 4286.7490234375,
                        "z": 369.56097412109375
                    },
                    "rotation": {
                        "roll": -1.0422446239388705e-10,
                        "pitch": 0.5048055648803711,
                        "yaw": 179.6254119873047
                    }
                },
                "velocity": {
                    "x": -12.083621978759766,
                    "y": 0.07490020990371704,
                    "z": 0.07013681530952454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1907958984375,
                        "y": 4287.4326171875,
                        "z": 370.25396728515625
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.008267402648926,
                "transform": {
                    "location": {
                        "x": 739.9762573242188,
                        "y": 4289.806640625,
                        "z": 369.4570617675781
                    },
                    "rotation": {
                        "roll": 0.0015921450685709715,
                        "pitch": 0.3816094696521759,
                        "yaw": 178.73562622070312
                    }
                },
                "velocity": {
                    "x": -7.006647109985352,
                    "y": 0.1451372653245926,
                    "z": 0.04050667583942413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.455351829528809,
                "transform": {
                    "location": {
                        "x": 723.64453125,
                        "y": 4289.9853515625,
                        "z": 369.55206298828125
                    },
                    "rotation": {
                        "roll": 0.0008230864186771214,
                        "pitch": 0.39649927616119385,
                        "yaw": 179.6166229248047
                    }
                },
                "velocity": {
                    "x": -8.455022811889648,
                    "y": 0.05648638680577278,
                    "z": 0.04881511628627777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.075590133666992,
                "transform": {
                    "location": {
                        "x": 704.0231323242188,
                        "y": 4290.11669921875,
                        "z": 369.6967468261719
                    },
                    "rotation": {
                        "roll": 0.00539611978456378,
                        "pitch": 0.37487491965293884,
                        "yaw": 179.79476928710938
                    }
                },
                "velocity": {
                    "x": -8.07537841796875,
                    "y": 0.03343294933438301,
                    "z": 0.04781975597143173
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.948360443115234,
                "transform": {
                    "location": {
                        "x": 685.904052734375,
                        "y": 4290.21484375,
                        "z": 369.7596740722656
                    },
                    "rotation": {
                        "roll": 0.00039386158459819853,
                        "pitch": 0.32000118494033813,
                        "yaw": 179.69664001464844
                    }
                },
                "velocity": {
                    "x": -7.948129653930664,
                    "y": 0.0401029996573925,
                    "z": 0.045407600700855255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.08019004762172699,
        "expert_target_speed": 10.0,
        "target_point": [
            20.426631080388884,
            -0.3549792957563709
        ],
        "target_point_next": [
            71.42354500586927,
            -0.913947008309336
        ]
    },
    "90": {
        "acceleration": [
            -5.248165130615234,
            0.2571412920951843,
            0.04057466983795166
        ],
        "angular_velocity": [
            0.03289991617202759,
            0.6457924842834473,
            -0.9937660098075867
        ],
        "forward_vector": [
            -0.999906599521637,
            -0.00042282769572921097,
            0.01365988701581955
        ],
        "right_vector": [
            0.0004027625545859337,
            -0.9999988079071045,
            -0.001471625524573028
        ],
        "location": [
            698.484619140625,
            4286.82666015625,
            369.6889343261719
        ],
        "rotation": [
            0.08432582765817642,
            0.7826781868934631,
            -179.97576904296875
        ],
        "velocity": [
            -14.509844779968262,
            -0.005651744548231363,
            0.08446220308542252
        ],
        "speed": 14.509845880676634,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 55.99544143676758,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.104005813598633,
                "transform": {
                    "location": {
                        "x": 646.5934448242188,
                        "y": 4297.1015625,
                        "z": 369.980224609375
                    },
                    "rotation": {
                        "roll": -0.004364012274891138,
                        "pitch": -0.30389559268951416,
                        "yaw": 0.19210882484912872
                    }
                },
                "velocity": {
                    "x": 8.103837013244629,
                    "y": 0.02719195745885372,
                    "z": -0.044704336673021317
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.127610206604004,
                "transform": {
                    "location": {
                        "x": 646.591796875,
                        "y": 4293.8564453125,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": -0.0034790036734193563,
                        "pitch": -0.3045649528503418,
                        "yaw": 0.17135335505008698
                    }
                },
                "velocity": {
                    "x": 8.12745189666748,
                    "y": 0.024257279932498932,
                    "z": -0.044556889683008194
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.02889347076416,
                "transform": {
                    "location": {
                        "x": 687.8591918945312,
                        "y": 4296.89990234375,
                        "z": 369.750732421875
                    },
                    "rotation": {
                        "roll": 0.0004925021203234792,
                        "pitch": -0.32525357604026794,
                        "yaw": -0.3214415907859802
                    }
                },
                "velocity": {
                    "x": 8.028640747070312,
                    "y": -0.045146793127059937,
                    "z": -0.044961851090192795
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.324307441711426,
                "transform": {
                    "location": {
                        "x": 688.3480834960938,
                        "y": 4293.6484375,
                        "z": 369.7571716308594
                    },
                    "rotation": {
                        "roll": 0.0011448635486885905,
                        "pitch": -0.3235187232494354,
                        "yaw": -0.32952880859375
                    }
                },
                "velocity": {
                    "x": 8.324041366577148,
                    "y": -0.047930311411619186,
                    "z": -0.04626011848449707
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.00241756439209,
                "transform": {
                    "location": {
                        "x": 738.3164672851562,
                        "y": 4286.6005859375,
                        "z": 369.4578857421875
                    },
                    "rotation": {
                        "roll": -0.004913328681141138,
                        "pitch": 0.3579360544681549,
                        "yaw": 178.9423065185547
                    }
                },
                "velocity": {
                    "x": -12.000454902648926,
                    "y": 0.20554889738559723,
                    "z": 0.06960618495941162
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.038304328918457,
                "transform": {
                    "location": {
                        "x": 718.8800048828125,
                        "y": 4286.7685546875,
                        "z": 369.5787658691406
                    },
                    "rotation": {
                        "roll": -0.0014343258226290345,
                        "pitch": 0.5713726282119751,
                        "yaw": 179.63540649414062
                    }
                },
                "velocity": {
                    "x": -13.037846565246582,
                    "y": 0.07877375185489655,
                    "z": 0.07572276890277863
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1907958984375,
                        "y": 4287.4326171875,
                        "z": 370.25396728515625
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.562948226928711,
                "transform": {
                    "location": {
                        "x": 738.1469116210938,
                        "y": 4289.84228515625,
                        "z": 369.468505859375
                    },
                    "rotation": {
                        "roll": 0.011544199660420418,
                        "pitch": 0.2880631983280182,
                        "yaw": 178.93324279785156
                    }
                },
                "velocity": {
                    "x": -7.562106609344482,
                    "y": 0.10376167297363281,
                    "z": 0.04434685781598091
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.842374801635742,
                "transform": {
                    "location": {
                        "x": 721.4984741210938,
                        "y": 4289.99951171875,
                        "z": 369.5653076171875
                    },
                    "rotation": {
                        "roll": 0.0014309175312519073,
                        "pitch": 0.3066140115261078,
                        "yaw": 179.6208038330078
                    }
                },
                "velocity": {
                    "x": -8.842036247253418,
                    "y": 0.05849743261933327,
                    "z": 0.05058738589286804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.35052490234375,
                "transform": {
                    "location": {
                        "x": 702.110595703125,
                        "y": 4290.12451171875,
                        "z": 369.7087097167969
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 0.2768412232398987,
                        "yaw": 179.76084899902344
                    }
                },
                "velocity": {
                    "x": -7.35033655166626,
                    "y": 0.030641155317425728,
                    "z": 0.04278118163347244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.980844497680664,
                "transform": {
                    "location": {
                        "x": 683.91357421875,
                        "y": 4290.22509765625,
                        "z": 369.77081298828125
                    },
                    "rotation": {
                        "roll": 0.00016118580242618918,
                        "pitch": 0.32426321506500244,
                        "yaw": 179.6807403564453
                    }
                },
                "velocity": {
                    "x": -7.980599403381348,
                    "y": 0.043930087238550186,
                    "z": 0.0445062629878521
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0829031765460968,
        "expert_target_speed": 10.0,
        "target_point": [
            16.947397551408557,
            -0.26888695499706916
        ],
        "target_point_next": [
            67.94634982874305,
            -0.5922156433187327
        ]
    },
    "95": {
        "acceleration": [
            -4.361972808837891,
            0.06331820040941238,
            0.003001391887664795
        ],
        "angular_velocity": [
            -0.12926901876926422,
            -0.005932565778493881,
            -0.04307536035776138
        ],
        "forward_vector": [
            -0.9998903274536133,
            0.0018436417449265718,
            0.014692491851747036
        ],
        "right_vector": [
            -0.0018590651452541351,
            -0.9999977350234985,
            -0.0010361516615375876
        ],
        "location": [
            694.704345703125,
            4286.8291015625,
            369.71044921875
        ],
        "rotation": [
            0.05937354266643524,
            0.8418480753898621,
            179.8943634033203
        ],
        "velocity": [
            -15.654330253601074,
            0.022466758266091347,
            0.08881299942731857
        ],
        "speed": 15.654346375497026,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 52.21540832519531,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.081387519836426,
                "transform": {
                    "location": {
                        "x": 648.616455078125,
                        "y": 4297.10302734375,
                        "z": 369.9694519042969
                    },
                    "rotation": {
                        "roll": 0.007716569118201733,
                        "pitch": -0.3069145381450653,
                        "yaw": 0.010793077759444714
                    }
                },
                "velocity": {
                    "x": 8.081265449523926,
                    "y": -0.00341628585010767,
                    "z": -0.044271063059568405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.134013175964355,
                "transform": {
                    "location": {
                        "x": 648.6245727539062,
                        "y": 4293.85693359375,
                        "z": 369.9709777832031
                    },
                    "rotation": {
                        "roll": 0.011076555587351322,
                        "pitch": -0.30645692348480225,
                        "yaw": -0.004119873046875
                    }
                },
                "velocity": {
                    "x": 8.13388442993164,
                    "y": -0.007912101224064827,
                    "z": -0.04504011198878288
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.099019050598145,
                "transform": {
                    "location": {
                        "x": 689.8759155273438,
                        "y": 4296.88818359375,
                        "z": 369.7392883300781
                    },
                    "rotation": {
                        "roll": 0.00012103965855203569,
                        "pitch": -0.32412660121917725,
                        "yaw": -0.3224792182445526
                    }
                },
                "velocity": {
                    "x": 8.098764419555664,
                    "y": -0.04559209570288658,
                    "z": -0.045246582478284836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.107711791992188,
                "transform": {
                    "location": {
                        "x": 690.4008178710938,
                        "y": 4293.63720703125,
                        "z": 369.74560546875
                    },
                    "rotation": {
                        "roll": 0.0001741870364639908,
                        "pitch": -0.3274187743663788,
                        "yaw": -0.331756591796875
                    }
                },
                "velocity": {
                    "x": 8.10744857788086,
                    "y": -0.046849507838487625,
                    "z": -0.04553532972931862
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.543855667114258,
                "transform": {
                    "location": {
                        "x": 735.2506713867188,
                        "y": 4286.64697265625,
                        "z": 369.4759216308594
                    },
                    "rotation": {
                        "roll": -0.005340575240552425,
                        "pitch": 0.35082581639289856,
                        "yaw": 179.2911376953125
                    }
                },
                "velocity": {
                    "x": -12.54269790649414,
                    "y": 0.15366938710212708,
                    "z": 0.07363706082105637
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.940053939819336,
                "transform": {
                    "location": {
                        "x": 715.5033569335938,
                        "y": 4286.78857421875,
                        "z": 369.5986633300781
                    },
                    "rotation": {
                        "roll": -0.0019531246507540345,
                        "pitch": 0.5502946376800537,
                        "yaw": 179.67247009277344
                    }
                },
                "velocity": {
                    "x": -13.939577102661133,
                    "y": 0.08231586962938309,
                    "z": 0.0807003378868103
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1907958984375,
                        "y": 4287.4326171875,
                        "z": 370.25396728515625
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.262516021728516,
                "transform": {
                    "location": {
                        "x": 736.064453125,
                        "y": 4289.87158203125,
                        "z": 369.48162841796875
                    },
                    "rotation": {
                        "roll": 0.004486582707613707,
                        "pitch": 0.17194317281246185,
                        "yaw": 179.18435668945312
                    }
                },
                "velocity": {
                    "x": -9.261606216430664,
                    "y": 0.11840005964040756,
                    "z": 0.053243111819028854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.875516891479492,
                "transform": {
                    "location": {
                        "x": 719.2364501953125,
                        "y": 4290.013671875,
                        "z": 369.5782470703125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.3262166380882263,
                        "yaw": 179.6324462890625
                    }
                },
                "velocity": {
                    "x": -8.8751802444458,
                    "y": 0.05692518502473831,
                    "z": 0.052333228290081024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.708079814910889,
                "transform": {
                    "location": {
                        "x": 700.2537841796875,
                        "y": 4290.13232421875,
                        "z": 369.71881103515625
                    },
                    "rotation": {
                        "roll": 0.0009738461230881512,
                        "pitch": 0.3472263216972351,
                        "yaw": 179.73297119140625
                    }
                },
                "velocity": {
                    "x": -7.707849025726318,
                    "y": 0.04029184207320213,
                    "z": 0.043983571231365204
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.042658805847168,
                "transform": {
                    "location": {
                        "x": 681.9088745117188,
                        "y": 4290.23681640625,
                        "z": 369.7821350097656
                    },
                    "rotation": {
                        "roll": 4.290717697585933e-06,
                        "pitch": 0.3220843970775604,
                        "yaw": 179.67431640625
                    }
                },
                "velocity": {
                    "x": -8.042407035827637,
                    "y": 0.04505163058638573,
                    "z": 0.04497278109192848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.08280712366104126,
        "expert_target_speed": 10.0,
        "target_point": [
            13.167691917292542,
            -0.23500389985158124
        ],
        "target_point_next": [
            64.16724600783424,
            -0.44274747362626055
        ]
    },
    "100": {
        "acceleration": [
            -4.293212890625,
            0.16330793499946594,
            0.029856115579605103
        ],
        "angular_velocity": [
            0.0712079182267189,
            -0.03959076851606369,
            -0.4366952180862427
        ],
        "forward_vector": [
            -0.9998911619186401,
            0.002107068197801709,
            0.01460440643131733
        ],
        "right_vector": [
            -0.002117255236953497,
            -0.9999975562095642,
            -0.0006821028073318303
        ],
        "location": [
            690.6507568359375,
            4286.8359375,
            369.7335205078125
        ],
        "rotation": [
            0.03908578306436539,
            0.8368005752563477,
            179.87925720214844
        ],
        "velocity": [
            -16.729421615600586,
            0.04155438393354416,
            0.0954899936914444
        ],
        "speed": 16.72947322420369,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 48.16218566894531,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.156473636627197,
                "transform": {
                    "location": {
                        "x": 650.6039428710938,
                        "y": 4297.10107421875,
                        "z": 369.9586486816406
                    },
                    "rotation": {
                        "roll": 0.00271896761842072,
                        "pitch": -0.4127824604511261,
                        "yaw": -0.081085205078125
                    }
                },
                "velocity": {
                    "x": 7.156360149383545,
                    "y": -0.01123551931232214,
                    "z": -0.038738325238227844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.126017570495605,
                "transform": {
                    "location": {
                        "x": 650.65673828125,
                        "y": 4293.853515625,
                        "z": 369.96014404296875
                    },
                    "rotation": {
                        "roll": 0.00720332283526659,
                        "pitch": -0.3049337863922119,
                        "yaw": -0.100006103515625
                    }
                },
                "velocity": {
                    "x": 8.125879287719727,
                    "y": -0.016913825646042824,
                    "z": -0.04428325220942497
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048916816711426,
                "transform": {
                    "location": {
                        "x": 691.894775390625,
                        "y": 4296.8759765625,
                        "z": 369.72784423828125
                    },
                    "rotation": {
                        "roll": 0.0014936353545635939,
                        "pitch": -0.3274187743663788,
                        "yaw": -0.32269287109375
                    }
                },
                "velocity": {
                    "x": 8.048659324645996,
                    "y": -0.045289576053619385,
                    "z": -0.045806098729372025
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.33047866821289,
                "transform": {
                    "location": {
                        "x": 692.4567260742188,
                        "y": 4293.62548828125,
                        "z": 369.73388671875
                    },
                    "rotation": {
                        "roll": 0.0006774264038540423,
                        "pitch": -0.32739144563674927,
                        "yaw": -0.3354796767234802
                    }
                },
                "velocity": {
                    "x": 8.330205917358398,
                    "y": -0.04875395819544792,
                    "z": -0.04654783755540848
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.203802108764648,
                "transform": {
                    "location": {
                        "x": 732.022705078125,
                        "y": 4286.6826171875,
                        "z": 369.494873046875
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": 0.3500608503818512,
                        "yaw": 179.50990295410156
                    }
                },
                "velocity": {
                    "x": -13.203094482421875,
                    "y": 0.11348854750394821,
                    "z": 0.07626001536846161
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.840548515319824,
                "transform": {
                    "location": {
                        "x": 711.9013671875,
                        "y": 4286.81005859375,
                        "z": 369.61968994140625
                    },
                    "rotation": {
                        "roll": 0.00019047033856622875,
                        "pitch": 0.5408211946487427,
                        "yaw": 179.6670379638672
                    }
                },
                "velocity": {
                    "x": -14.84005355834961,
                    "y": 0.08569055050611496,
                    "z": 0.08575589954853058
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7050151824951172,
                "transform": {
                    "location": {
                        "x": 623.1905517578125,
                        "y": 4287.4326171875,
                        "z": 370.1572265625
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": 0.2836235761642456,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0033070563804358244,
                    "y": -4.744068064610474e-06,
                    "z": -0.7050074338912964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.65839958190918,
                "transform": {
                    "location": {
                        "x": 733.7857666015625,
                        "y": 4289.900390625,
                        "z": 369.4934387207031
                    },
                    "rotation": {
                        "roll": 0.0003653347084764391,
                        "pitch": 0.3482440114021301,
                        "yaw": 179.29029846191406
                    }
                },
                "velocity": {
                    "x": -8.65760326385498,
                    "y": 0.10566045343875885,
                    "z": 0.051287926733493805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.610489368438721,
                "transform": {
                    "location": {
                        "x": 717.1376953125,
                        "y": 4290.02685546875,
                        "z": 369.5897521972656
                    },
                    "rotation": {
                        "roll": 0.00098962162155658,
                        "pitch": 0.41709232330322266,
                        "yaw": 179.64297485351562
                    }
                },
                "velocity": {
                    "x": -7.610213279724121,
                    "y": 0.04731391370296478,
                    "z": 0.044329822063446045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.393806457519531,
                "transform": {
                    "location": {
                        "x": 698.2000732421875,
                        "y": 4290.1435546875,
                        "z": 369.730224609375
                    },
                    "rotation": {
                        "roll": -0.00039672860293649137,
                        "pitch": 0.3941018879413605,
                        "yaw": 179.70095825195312
                    }
                },
                "velocity": {
                    "x": -8.393546104431152,
                    "y": 0.045441653579473495,
                    "z": 0.04800131544470787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.993278503417969,
                "transform": {
                    "location": {
                        "x": 679.9044189453125,
                        "y": 4290.24853515625,
                        "z": 369.79327392578125
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.3199465274810791,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -7.993009567260742,
                    "y": 0.04706807807087898,
                    "z": 0.04560408368706703
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.08970806002616882,
        "expert_target_speed": 10.0,
        "target_point": [
            9.114159155473306,
            -0.23323720660338987
        ],
        "target_point_next": [
            60.11376625304052,
            -0.427532652520894
        ]
    },
    "105": {
        "acceleration": [
            -4.3439483642578125,
            0.3380352258682251,
            0.024927109479904175
        ],
        "angular_velocity": [
            0.14725299179553986,
            0.01938166469335556,
            -1.2816054821014404
        ],
        "forward_vector": [
            -0.9998742938041687,
            0.006370934657752514,
            0.014515604823827744
        ],
        "right_vector": [
            -0.0063894325867295265,
            -0.99997878074646,
            -0.0012283507967367768
        ],
        "location": [
            686.3282470703125,
            4286.8544921875,
            369.7580261230469
        ],
        "rotation": [
            0.07038675248622894,
            0.8317120671272278,
            179.6349334716797
        ],
        "velocity": [
            -17.809574127197266,
            0.10960344970226288,
            0.10031101107597351
        ],
        "speed": 17.809911384067043,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 43.8403205871582,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 611.7835693359375,
                        "y": 4297.2509765625,
                        "z": 370.31085205078125
                    },
                    "rotation": {
                        "roll": 5.2110808723693225e-11,
                        "pitch": -0.27572789788246155,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 611.7643432617188,
                        "y": 4294.0009765625,
                        "z": 370.31085205078125
                    },
                    "rotation": {
                        "roll": 5.2110808723693225e-11,
                        "pitch": -0.27572789788246155,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.332337379455566,
                "transform": {
                    "location": {
                        "x": 652.2318725585938,
                        "y": 4297.09765625,
                        "z": 369.9499816894531
                    },
                    "rotation": {
                        "roll": 0.004311664029955864,
                        "pitch": -0.43926993012428284,
                        "yaw": -0.1444396823644638
                    }
                },
                "velocity": {
                    "x": 6.332214832305908,
                    "y": -0.02054777182638645,
                    "z": -0.03359987214207649
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.39568567276001,
                "transform": {
                    "location": {
                        "x": 652.4228515625,
                        "y": 4293.8486328125,
                        "z": 369.9506530761719
                    },
                    "rotation": {
                        "roll": 0.006285939831286669,
                        "pitch": -0.5610044002532959,
                        "yaw": -0.1769409030675888
                    }
                },
                "velocity": {
                    "x": 6.3955512046813965,
                    "y": -0.023950835689902306,
                    "z": -0.03385515138506889
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081521034240723,
                "transform": {
                    "location": {
                        "x": 693.91015625,
                        "y": 4296.86474609375,
                        "z": 369.71630859375
                    },
                    "rotation": {
                        "roll": 0.0003729586605913937,
                        "pitch": -0.3277602791786194,
                        "yaw": -0.3261108100414276
                    }
                },
                "velocity": {
                    "x": 8.08126163482666,
                    "y": -0.04605484381318092,
                    "z": -0.04548833146691322
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109156608581543,
                "transform": {
                    "location": {
                        "x": 694.5104370117188,
                        "y": 4293.61376953125,
                        "z": 369.72222900390625
                    },
                    "rotation": {
                        "roll": -0.00024414040672127157,
                        "pitch": -0.3322203755378723,
                        "yaw": -0.3361511528491974
                    }
                },
                "velocity": {
                    "x": 8.10888671875,
                    "y": -0.047577980905771255,
                    "z": -0.045970868319272995
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.723103523254395,
                "transform": {
                    "location": {
                        "x": 728.6531372070312,
                        "y": 4286.70849609375,
                        "z": 369.5143737792969
                    },
                    "rotation": {
                        "roll": -0.0037536618765443563,
                        "pitch": 0.3463178873062134,
                        "yaw": 179.63006591796875
                    }
                },
                "velocity": {
                    "x": -13.722556114196777,
                    "y": 0.09313525259494781,
                    "z": 0.0797109603881836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.739945411682129,
                "transform": {
                    "location": {
                        "x": 708.0740356445312,
                        "y": 4286.83154296875,
                        "z": 369.6418151855469
                    },
                    "rotation": {
                        "roll": -0.0003356932429596782,
                        "pitch": 0.5438947677612305,
                        "yaw": 179.6738739013672
                    }
                },
                "velocity": {
                    "x": -15.739421844482422,
                    "y": 0.09039702266454697,
                    "z": 0.09118522703647614
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.046617332845926285,
                "transform": {
                    "location": {
                        "x": 623.1903076171875,
                        "y": 4287.4326171875,
                        "z": 370.095703125
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": 0.28807687759399414,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.00020644773030653596,
                    "y": -4.9591322749620304e-05,
                    "z": -0.046616848558187485
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.487825393676758,
                "transform": {
                    "location": {
                        "x": 731.7844848632812,
                        "y": 4289.919921875,
                        "z": 369.5043640136719
                    },
                    "rotation": {
                        "roll": 0.002524695359170437,
                        "pitch": 0.43687936663627625,
                        "yaw": 179.40823364257812
                    }
                },
                "velocity": {
                    "x": -7.48743200302124,
                    "y": 0.06259938329458237,
                    "z": 0.04447212070226669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.864996433258057,
                "transform": {
                    "location": {
                        "x": 715.3882446289062,
                        "y": 4290.0380859375,
                        "z": 369.59991455078125
                    },
                    "rotation": {
                        "roll": 0.00015040041762404144,
                        "pitch": 0.41893646121025085,
                        "yaw": 179.64414978027344
                    }
                },
                "velocity": {
                    "x": -6.864744186401367,
                    "y": 0.042671818286180496,
                    "z": 0.04051797837018967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.607076644897461,
                "transform": {
                    "location": {
                        "x": 696.2029418945312,
                        "y": 4290.15380859375,
                        "z": 369.7426452636719
                    },
                    "rotation": {
                        "roll": 0.000500824477057904,
                        "pitch": 0.28378069400787354,
                        "yaw": 179.69357299804688
                    }
                },
                "velocity": {
                    "x": -7.606842041015625,
                    "y": 0.040636252611875534,
                    "z": 0.04384883865714073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.015787124633789,
                "transform": {
                    "location": {
                        "x": 677.903564453125,
                        "y": 4290.259765625,
                        "z": 369.8044128417969
                    },
                    "rotation": {
                        "roll": 0.00015343597624450922,
                        "pitch": 0.3181092143058777,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -8.015523910522461,
                    "y": 0.04709956422448158,
                    "z": 0.04458849877119064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.07996586710214615,
        "expert_target_speed": 10.0,
        "target_point": [
            55.79250257507858,
            -0.180169434199223
        ],
        "target_point_next": [
            106.79247139766575,
            -0.15649508679140012
        ]
    },
    "110": {
        "acceleration": [
            -4.4370269775390625,
            0.4628044366836548,
            0.03447502851486206
        ],
        "angular_velocity": [
            0.17849579453468323,
            0.30047181248664856,
            -1.416946291923523
        ],
        "forward_vector": [
            -0.9998490214347839,
            0.012312756851315498,
            0.012260605581104755
        ],
        "right_vector": [
            -0.012337617576122284,
            -0.999921977519989,
            -0.0019540817011147738
        ],
        "location": [
            681.8139038085938,
            4286.89306640625,
            369.7838439941406
        ],
        "rotation": [
            0.11196911334991455,
            0.7024985551834106,
            179.29446411132812
        ],
        "velocity": [
            -18.442581176757812,
            0.21113616228103638,
            0.10263313353061676
        ],
        "speed": 18.443789711995862,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 39.32717514038086,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 613.8651123046875,
                        "y": 4297.23876953125,
                        "z": 370.2284240722656
                    },
                    "rotation": {
                        "roll": 5.2110808723693225e-11,
                        "pitch": -0.27572789788246155,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.221551895141602,
                "transform": {
                    "location": {
                        "x": 613.8375244140625,
                        "y": 4293.98974609375,
                        "z": 370.2239074707031
                    },
                    "rotation": {
                        "roll": -0.0241088829934597,
                        "pitch": -0.31600552797317505,
                        "yaw": -0.30078125
                    }
                },
                "velocity": {
                    "x": 8.211409568786621,
                    "y": -0.007897079922258854,
                    "z": -0.4081730544567108
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.957249164581299,
                "transform": {
                    "location": {
                        "x": 653.849609375,
                        "y": 4297.091796875,
                        "z": 369.9416198730469
                    },
                    "rotation": {
                        "roll": 0.0026330871041864157,
                        "pitch": -0.28151988983154297,
                        "yaw": -0.20654296875
                    }
                },
                "velocity": {
                    "x": 6.957102298736572,
                    "y": -0.02767001837491989,
                    "z": -0.03576018661260605
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.391515731811523,
                "transform": {
                    "location": {
                        "x": 654.0115356445312,
                        "y": 4293.8427734375,
                        "z": 369.9422912597656
                    },
                    "rotation": {
                        "roll": 0.002030061325058341,
                        "pitch": -0.3718559741973877,
                        "yaw": -0.2250366359949112
                    }
                },
                "velocity": {
                    "x": 6.391368865966797,
                    "y": -0.027261892333626747,
                    "z": -0.03364008665084839
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055704116821289,
                "transform": {
                    "location": {
                        "x": 695.9276123046875,
                        "y": 4296.85302734375,
                        "z": 369.7047424316406
                    },
                    "rotation": {
                        "roll": 0.00038950322777964175,
                        "pitch": -0.32808810472488403,
                        "yaw": -0.3270263075828552
                    }
                },
                "velocity": {
                    "x": 8.055445671081543,
                    "y": -0.04592064768075943,
                    "z": -0.04541056603193283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.331225395202637,
                "transform": {
                    "location": {
                        "x": 696.56640625,
                        "y": 4293.60205078125,
                        "z": 369.71044921875
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": -0.32907167077064514,
                        "yaw": -0.3362121880054474
                    }
                },
                "velocity": {
                    "x": 8.330939292907715,
                    "y": -0.04891073703765869,
                    "z": -0.0485982783138752
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.219695091247559,
                "transform": {
                    "location": {
                        "x": 725.1582641601562,
                        "y": 4286.73095703125,
                        "z": 369.5347595214844
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": 0.34533435106277466,
                        "yaw": 179.66018676757812
                    }
                },
                "velocity": {
                    "x": -14.219192504882812,
                    "y": 0.08728447556495667,
                    "z": 0.08166787773370743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.240415573120117,
                "transform": {
                    "location": {
                        "x": 704.0587158203125,
                        "y": 4286.85498046875,
                        "z": 369.6657409667969
                    },
                    "rotation": {
                        "roll": -0.00015258775965776294,
                        "pitch": 0.4790079593658447,
                        "yaw": 179.66746520996094
                    }
                },
                "velocity": {
                    "x": -16.23988151550293,
                    "y": 0.09304475784301758,
                    "z": 0.09300912916660309
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.2001313716173172,
                "transform": {
                    "location": {
                        "x": 623.1868896484375,
                        "y": 4287.4326171875,
                        "z": 370.0936584472656
                    },
                    "rotation": {
                        "roll": -0.0012817379320040345,
                        "pitch": 0.30819860100746155,
                        "yaw": 179.66253662109375
                    }
                },
                "velocity": {
                    "x": -0.20009765028953552,
                    "y": -0.00010037663741968572,
                    "z": 0.0036719036288559437
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.5333862304688,
                        "y": 4287.53173828125,
                        "z": 370.268310546875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3279523849487305,
                "transform": {
                    "location": {
                        "x": 730.2030029296875,
                        "y": 4289.935546875,
                        "z": 369.5129089355469
                    },
                    "rotation": {
                        "roll": 0.0026329574175179005,
                        "pitch": 0.5239301323890686,
                        "yaw": 179.84439086914062
                    }
                },
                "velocity": {
                    "x": -5.3277268409729,
                    "y": 0.03756173327565193,
                    "z": 0.031500328332185745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.336568832397461,
                "transform": {
                    "location": {
                        "x": 713.6275024414062,
                        "y": 4290.048828125,
                        "z": 369.6112060546875
                    },
                    "rotation": {
                        "roll": 0.0009023366728797555,
                        "pitch": 0.30008435249328613,
                        "yaw": 179.650146484375
                    }
                },
                "velocity": {
                    "x": -7.336308002471924,
                    "y": 0.04530860483646393,
                    "z": 0.04214072227478027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.727422714233398,
                "transform": {
                    "location": {
                        "x": 694.3158569335938,
                        "y": 4290.16357421875,
                        "z": 369.7530822753906
                    },
                    "rotation": {
                        "roll": 0.0013369079679250717,
                        "pitch": 0.3214764893054962,
                        "yaw": 179.6881561279297
                    }
                },
                "velocity": {
                    "x": -7.727169036865234,
                    "y": 0.04361216351389885,
                    "z": 0.04491425305604935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988117218017578,
                "transform": {
                    "location": {
                        "x": 675.9033203125,
                        "y": 4290.27197265625,
                        "z": 369.81549072265625
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": 0.316838800907135,
                        "yaw": 179.66004943847656
                    }
                },
                "velocity": {
                    "x": -7.987852096557617,
                    "y": 0.047250695526599884,
                    "z": 0.044751252979040146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06678704917430878,
        "expert_target_speed": 10.0,
        "target_point": [
            51.278112148648596,
            0.13435391546132897
        ],
        "target_point_next": [
            102.27703985189862,
            0.4610854539823287
        ]
    },
    "115": {
        "acceleration": [
            -3.0309677124023438,
            0.9292244911193848,
            0.024185627698898315
        ],
        "angular_velocity": [
            0.3666590452194214,
            -0.1296505182981491,
            -3.520122528076172
        ],
        "forward_vector": [
            -0.9996177554130554,
            0.02460480108857155,
            0.012605690397322178
        ],
        "right_vector": [
            -0.02465621568262577,
            -0.9996882081031799,
            -0.00393944326788187
        ],
        "location": [
            677.087646484375,
            4286.97216796875,
            369.8101501464844
        ],
        "rotation": [
            0.2257319837808609,
            0.7222719788551331,
            178.58999633789062
        ],
        "velocity": [
            -19.287294387817383,
            0.4386058449745178,
            0.10748603940010071
        ],
        "speed": 19.29228083689375,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.60343933105469,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.014784812927246,
                "transform": {
                    "location": {
                        "x": 615.886962890625,
                        "y": 4297.24072265625,
                        "z": 370.13592529296875
                    },
                    "rotation": {
                        "roll": -0.01727294921875,
                        "pitch": -0.2862463891506195,
                        "yaw": 0.13085395097732544
                    }
                },
                "velocity": {
                    "x": 8.013439178466797,
                    "y": 0.0673530101776123,
                    "z": -0.13050229847431183
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.008947372436523,
                "transform": {
                    "location": {
                        "x": 615.86328125,
                        "y": 4293.99560546875,
                        "z": 370.15625
                    },
                    "rotation": {
                        "roll": -0.0759582445025444,
                        "pitch": -0.3228766918182373,
                        "yaw": 0.21816839277744293
                    }
                },
                "velocity": {
                    "x": 8.007027626037598,
                    "y": 0.05377399921417236,
                    "z": -0.1669008433818817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.54493522644043,
                "transform": {
                    "location": {
                        "x": 655.8729248046875,
                        "y": 4297.0830078125,
                        "z": 369.93109130859375
                    },
                    "rotation": {
                        "roll": 0.0026859992649406195,
                        "pitch": -0.11096324771642685,
                        "yaw": -0.23712158203125
                    }
                },
                "velocity": {
                    "x": 8.544739723205566,
                    "y": -0.03658841922879219,
                    "z": -0.04482144117355347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.356573104858398,
                "transform": {
                    "location": {
                        "x": 655.8358154296875,
                        "y": 4293.83447265625,
                        "z": 369.93267822265625
                    },
                    "rotation": {
                        "roll": 5.0599570386111736e-05,
                        "pitch": -0.006167660467326641,
                        "yaw": -0.2420959621667862
                    }
                },
                "velocity": {
                    "x": 8.356374740600586,
                    "y": -0.03691050037741661,
                    "z": -0.04406898096203804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082566261291504,
                "transform": {
                    "location": {
                        "x": 697.9450073242188,
                        "y": 4296.84130859375,
                        "z": 369.6931457519531
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.3309636414051056,
                        "yaw": -0.329742431640625
                    }
                },
                "velocity": {
                    "x": 8.082304000854492,
                    "y": -0.04665471613407135,
                    "z": -0.04538087174296379
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.10917854309082,
                "transform": {
                    "location": {
                        "x": 698.6201171875,
                        "y": 4293.59033203125,
                        "z": 369.6985778808594
                    },
                    "rotation": {
                        "roll": -0.00012207035615574569,
                        "pitch": -0.335539847612381,
                        "yaw": -0.3415526747703552
                    }
                },
                "velocity": {
                    "x": 8.108896255493164,
                    "y": -0.04840390756726265,
                    "z": -0.047371141612529755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.730247497558594,
                "transform": {
                    "location": {
                        "x": 721.537353515625,
                        "y": 4286.75244140625,
                        "z": 369.5558166503906
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": 0.34520456194877625,
                        "yaw": 179.6647491455078
                    }
                },
                "velocity": {
                    "x": -14.729747772216797,
                    "y": 0.0869530439376831,
                    "z": 0.08455516397953033
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.21498680114746,
                "transform": {
                    "location": {
                        "x": 699.9987182617188,
                        "y": 4286.87841796875,
                        "z": 369.6903381347656
                    },
                    "rotation": {
                        "roll": 0.0008174034883268178,
                        "pitch": 0.3341396749019623,
                        "yaw": 179.6766815185547
                    }
                },
                "velocity": {
                    "x": -16.214454650878906,
                    "y": 0.0929047018289566,
                    "z": 0.09276847541332245
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7024537324905396,
                "transform": {
                    "location": {
                        "x": 622.8969116210938,
                        "y": 4287.43115234375,
                        "z": 370.0948486328125
                    },
                    "rotation": {
                        "roll": -0.0184631310403347,
                        "pitch": 0.7079764008522034,
                        "yaw": 179.78419494628906
                    }
                },
                "velocity": {
                    "x": -1.7023600339889526,
                    "y": -0.01070987805724144,
                    "z": 0.014291457831859589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2844848632812,
                        "y": 4287.53369140625,
                        "z": 370.20928955078125
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.170287609100342,
                "transform": {
                    "location": {
                        "x": 728.9107666015625,
                        "y": 4289.9443359375,
                        "z": 369.5216369628906
                    },
                    "rotation": {
                        "roll": 0.00036781124072149396,
                        "pitch": 0.38117918372154236,
                        "yaw": 179.69447326660156
                    }
                },
                "velocity": {
                    "x": -5.170040130615234,
                    "y": 0.04094192013144493,
                    "z": 0.029700545594096184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.643389701843262,
                "transform": {
                    "location": {
                        "x": 711.6864013671875,
                        "y": 4290.06103515625,
                        "z": 369.623046875
                    },
                    "rotation": {
                        "roll": 0.0007480945787392557,
                        "pitch": 0.22415313124656677,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -8.643087387084961,
                    "y": 0.05178233981132507,
                    "z": 0.05056754872202873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.560648918151855,
                "transform": {
                    "location": {
                        "x": 692.2628173828125,
                        "y": 4290.17529296875,
                        "z": 369.7641296386719
                    },
                    "rotation": {
                        "roll": 0.0001635910157347098,
                        "pitch": 0.4030630886554718,
                        "yaw": 179.68565368652344
                    }
                },
                "velocity": {
                    "x": -8.560379981994629,
                    "y": 0.04690665751695633,
                    "z": 0.049044959247112274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022604942321777,
                "transform": {
                    "location": {
                        "x": 673.9019165039062,
                        "y": 4290.283203125,
                        "z": 369.82659912109375
                    },
                    "rotation": {
                        "roll": 0.00029047924908809364,
                        "pitch": 0.31751498579978943,
                        "yaw": 179.65953063964844
                    }
                },
                "velocity": {
                    "x": -8.022340774536133,
                    "y": 0.04756385087966919,
                    "z": 0.044424064457416534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.017635321244597435,
        "expert_target_speed": 10.0,
        "target_point": [
            46.54581204663911,
            0.7275632104716128
        ],
        "target_point_next": [
            97.53686827733608,
            1.6812743079675871
        ]
    },
    "120": {
        "acceleration": [
            -2.2588729858398438,
            1.0721075534820557,
            0.016238391399383545
        ],
        "angular_velocity": [
            0.3621198236942291,
            -0.27136778831481934,
            -2.4396955966949463
        ],
        "forward_vector": [
            -0.9993616938591003,
            0.03369925543665886,
            0.011858304031193256
        ],
        "right_vector": [
            -0.033753298223018646,
            -0.9994206428527832,
            -0.00438708858564496
        ],
        "location": [
            672.1724853515625,
            4287.103515625,
            369.8375244140625
        ],
        "rotation": [
            0.25138014554977417,
            0.6794466972351074,
            178.0686798095703
        ],
        "velocity": [
            -19.975109100341797,
            0.6400501728057861,
            0.10862953215837479
        ],
        "speed": 19.985360837229493,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.6934871673584,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069625854492188,
                "transform": {
                    "location": {
                        "x": 617.8978271484375,
                        "y": 4297.24951171875,
                        "z": 370.11712646484375
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.277619868516922,
                        "yaw": 0.245557501912117
                    }
                },
                "velocity": {
                    "x": 8.069439888000488,
                    "y": 0.019590748474001884,
                    "z": -0.05123235657811165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.203011512756348,
                "transform": {
                    "location": {
                        "x": 617.8910522460938,
                        "y": 4294.00439453125,
                        "z": 370.1285705566406
                    },
                    "rotation": {
                        "roll": -0.007202148903161287,
                        "pitch": -0.28906041383743286,
                        "yaw": 0.22836987674236298
                    }
                },
                "velocity": {
                    "x": 8.202641487121582,
                    "y": 0.022390494123101234,
                    "z": -0.07456978410482407
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.935276985168457,
                "transform": {
                    "location": {
                        "x": 657.9268798828125,
                        "y": 4297.0732421875,
                        "z": 369.9198303222656
                    },
                    "rotation": {
                        "roll": 0.002408611122518778,
                        "pitch": -0.3311412036418915,
                        "yaw": -0.2716064453125
                    }
                },
                "velocity": {
                    "x": 7.935060977935791,
                    "y": -0.03901628777384758,
                    "z": -0.04370131343603134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.16724967956543,
                "transform": {
                    "location": {
                        "x": 657.9439086914062,
                        "y": 4293.82470703125,
                        "z": 369.9213562011719
                    },
                    "rotation": {
                        "roll": 0.0028712220955640078,
                        "pitch": -0.2575664222240448,
                        "yaw": -0.281005859375
                    }
                },
                "velocity": {
                    "x": 8.167020797729492,
                    "y": -0.041625428944826126,
                    "z": -0.044770292937755585
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052336692810059,
                "transform": {
                    "location": {
                        "x": 699.9614868164062,
                        "y": 4296.82958984375,
                        "z": 369.6815490722656
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": -0.33190619945526123,
                        "yaw": -0.3308105766773224
                    }
                },
                "velocity": {
                    "x": 8.052078247070312,
                    "y": -0.0465141236782074,
                    "z": -0.04477088898420334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.330870628356934,
                "transform": {
                    "location": {
                        "x": 700.6762084960938,
                        "y": 4293.578125,
                        "z": 369.6866760253906
                    },
                    "rotation": {
                        "roll": 0.0010269079357385635,
                        "pitch": -0.33228185772895813,
                        "yaw": -0.3499755263328552
                    }
                },
                "velocity": {
                    "x": 8.330573081970215,
                    "y": -0.05078019201755524,
                    "z": -0.04879703000187874
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.24919319152832,
                "transform": {
                    "location": {
                        "x": 717.7869262695312,
                        "y": 4286.77392578125,
                        "z": 369.5776062011719
                    },
                    "rotation": {
                        "roll": 0.00026493583573028445,
                        "pitch": 0.34683698415756226,
                        "yaw": 179.665283203125
                    }
                },
                "velocity": {
                    "x": -15.248677253723145,
                    "y": 0.08926764130592346,
                    "z": 0.08811488747596741
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.130449295043945,
                "transform": {
                    "location": {
                        "x": 695.9576416015625,
                        "y": 4286.90185546875,
                        "z": 369.7138671875
                    },
                    "rotation": {
                        "roll": 0.000579905288759619,
                        "pitch": 0.29768693447113037,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -16.12991714477539,
                    "y": 0.09362015873193741,
                    "z": 0.09173230826854706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.861616373062134,
                "transform": {
                    "location": {
                        "x": 622.3250122070312,
                        "y": 4287.427734375,
                        "z": 370.0982360839844
                    },
                    "rotation": {
                        "roll": -0.01614380069077015,
                        "pitch": 0.7728973627090454,
                        "yaw": 179.9650115966797
                    }
                },
                "velocity": {
                    "x": -2.861511468887329,
                    "y": -0.01989888586103916,
                    "z": 0.014327477663755417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.23362135887146,
                "transform": {
                    "location": {
                        "x": 605.6917724609375,
                        "y": 4287.5341796875,
                        "z": 370.1990661621094
                    },
                    "rotation": {
                        "roll": -0.004547118674963713,
                        "pitch": 0.26723796129226685,
                        "yaw": 179.78732299804688
                    }
                },
                "velocity": {
                    "x": -2.2313919067382812,
                    "y": -0.009730756282806396,
                    "z": 0.09929788112640381
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.5909504890441895,
                "transform": {
                    "location": {
                        "x": 727.554443359375,
                        "y": 4289.95361328125,
                        "z": 369.530029296875
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.29909396171569824,
                        "yaw": 179.6758270263672
                    }
                },
                "velocity": {
                    "x": -5.590717792510986,
                    "y": 0.03896773234009743,
                    "z": 0.03294548764824867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.4740571975708,
                "transform": {
                    "location": {
                        "x": 709.3466796875,
                        "y": 4290.07470703125,
                        "z": 369.6365966796875
                    },
                    "rotation": {
                        "roll": 0.0009630144340917468,
                        "pitch": 0.22718574106693268,
                        "yaw": 179.65499877929688
                    }
                },
                "velocity": {
                    "x": -9.47373104095459,
                    "y": 0.05521335452795029,
                    "z": 0.055891599506139755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.882765769958496,
                "transform": {
                    "location": {
                        "x": 690.2001953125,
                        "y": 4290.18701171875,
                        "z": 369.77685546875
                    },
                    "rotation": {
                        "roll": 0.0014245589263737202,
                        "pitch": 0.29234573245048523,
                        "yaw": 179.6720428466797
                    }
                },
                "velocity": {
                    "x": -7.8824944496154785,
                    "y": 0.04728526994585991,
                    "z": 0.04519650340080261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990177631378174,
                "transform": {
                    "location": {
                        "x": 671.900634765625,
                        "y": 4290.294921875,
                        "z": 369.8375244140625
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.3155547082424164,
                        "yaw": 179.65940856933594
                    }
                },
                "velocity": {
                    "x": -7.989912509918213,
                    "y": 0.047448497265577316,
                    "z": 0.04454783350229263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.05107869952917099,
        "expert_target_speed": 10.0,
        "target_point": [
            41.6204695759993,
            1.1166739999925157
        ],
        "target_point_next": [
            92.60073729360347,
            2.5343071757447935
        ]
    },
    "125": {
        "acceleration": [
            -0.44528961181640625,
            1.132429838180542,
            -0.0028751790523529053
        ],
        "angular_velocity": [
            0.23433460295200348,
            -0.6132933497428894,
            -3.541515827178955
        ],
        "forward_vector": [
            -0.9988247156143188,
            0.04758065938949585,
            0.009231315925717354
        ],
        "right_vector": [
            -0.047633226960897446,
            -0.9988493919372559,
            -0.005560548044741154
        ],
        "location": [
            667.1488647460938,
            4287.294921875,
            369.8655090332031
        ],
        "rotation": [
            0.31861117482185364,
            0.528922975063324,
            177.27268981933594
        ],
        "velocity": [
            -20.165302276611328,
            0.9039731621742249,
            0.11092439293861389
        ],
        "speed": 20.185553829039154,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.68059539794922,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.301939964294434,
                "transform": {
                    "location": {
                        "x": 619.8817138671875,
                        "y": 4297.25439453125,
                        "z": 370.1064758300781
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": -0.3114907741546631,
                        "yaw": 0.14403490722179413
                    }
                },
                "velocity": {
                    "x": 7.301826000213623,
                    "y": 0.014608275145292282,
                    "z": -0.03810298815369606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.004971504211426,
                "transform": {
                    "location": {
                        "x": 619.9158935546875,
                        "y": 4294.0087890625,
                        "z": 370.114013671875
                    },
                    "rotation": {
                        "roll": 0.004194607026875019,
                        "pitch": -0.2906518578529358,
                        "yaw": 0.11793700605630875
                    }
                },
                "velocity": {
                    "x": 8.004819869995117,
                    "y": 0.013537834398448467,
                    "z": -0.04737075790762901
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.002148628234863,
                "transform": {
                    "location": {
                        "x": 659.900146484375,
                        "y": 4297.0634765625,
                        "z": 369.9091796875
                    },
                    "rotation": {
                        "roll": 0.0002713985741138458,
                        "pitch": -0.3088679611682892,
                        "yaw": -0.2913818359375
                    }
                },
                "velocity": {
                    "x": 8.001936912536621,
                    "y": -0.04043400660157204,
                    "z": -0.041929133236408234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.801355361938477,
                "transform": {
                    "location": {
                        "x": 659.91552734375,
                        "y": 4293.8154296875,
                        "z": 369.91070556640625
                    },
                    "rotation": {
                        "roll": 0.0032643333543092012,
                        "pitch": -0.3599509596824646,
                        "yaw": -0.3035888671875
                    }
                },
                "velocity": {
                    "x": 7.801131248474121,
                    "y": -0.04225271940231323,
                    "z": -0.041397809982299805
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084940910339355,
                "transform": {
                    "location": {
                        "x": 701.9788208007812,
                        "y": 4296.81787109375,
                        "z": 369.66986083984375
                    },
                    "rotation": {
                        "roll": 7.411967089865357e-05,
                        "pitch": -0.3314827084541321,
                        "yaw": -0.334228515625
                    }
                },
                "velocity": {
                    "x": 8.084671020507812,
                    "y": -0.04716695845127106,
                    "z": -0.04617680609226227
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109396934509277,
                "transform": {
                    "location": {
                        "x": 702.72998046875,
                        "y": 4293.5654296875,
                        "z": 369.6748046875
                    },
                    "rotation": {
                        "roll": 0.0001662943686824292,
                        "pitch": -0.3350890576839447,
                        "yaw": -0.35101318359375
                    }
                },
                "velocity": {
                    "x": 8.109105110168457,
                    "y": -0.04962414503097534,
                    "z": -0.04765897989273071
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.536588668823242,
                "transform": {
                    "location": {
                        "x": 713.9298095703125,
                        "y": 4286.796875,
                        "z": 369.6000671386719
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.34193292260169983,
                        "yaw": 179.66514587402344
                    }
                },
                "velocity": {
                    "x": -15.536064147949219,
                    "y": 0.09083466231822968,
                    "z": 0.08956167101860046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.110340118408203,
                "transform": {
                    "location": {
                        "x": 691.9287109375,
                        "y": 4286.92529296875,
                        "z": 369.7366638183594
                    },
                    "rotation": {
                        "roll": 0.0009383901488035917,
                        "pitch": 0.3246115446090698,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -16.10978889465332,
                    "y": 0.0965808853507042,
                    "z": 0.09168042987585068
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.421809434890747,
                "transform": {
                    "location": {
                        "x": 621.4789428710938,
                        "y": 4287.4228515625,
                        "z": 370.1027526855469
                    },
                    "rotation": {
                        "roll": -0.01177978329360485,
                        "pitch": 0.6898285746574402,
                        "yaw": -179.84176635742188
                    }
                },
                "velocity": {
                    "x": -3.421659231185913,
                    "y": -0.02676510438323021,
                    "z": 0.017645711079239845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.172567129135132,
                "transform": {
                    "location": {
                        "x": 605.1416625976562,
                        "y": 4287.533203125,
                        "z": 370.2169494628906
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.2692050635814667,
                        "yaw": 179.90509033203125
                    }
                },
                "velocity": {
                    "x": -2.172150135040283,
                    "y": -0.00959041528403759,
                    "z": 0.04147462919354439
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.377790451049805,
                "transform": {
                    "location": {
                        "x": 725.9285888671875,
                        "y": 4289.96435546875,
                        "z": 369.54058837890625
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.18035796284675598,
                        "yaw": 179.568115234375
                    }
                },
                "velocity": {
                    "x": -7.3774638175964355,
                    "y": 0.054422810673713684,
                    "z": 0.04310743138194084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.393854141235352,
                "transform": {
                    "location": {
                        "x": 707.111328125,
                        "y": 4290.087890625,
                        "z": 369.6481628417969
                    },
                    "rotation": {
                        "roll": 0.001086545642465353,
                        "pitch": 0.4101938307285309,
                        "yaw": 179.6594696044922
                    }
                },
                "velocity": {
                    "x": -8.39356517791748,
                    "y": 0.04978727549314499,
                    "z": 0.0486576147377491
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.373237609863281,
                "transform": {
                    "location": {
                        "x": 688.3169555664062,
                        "y": 4290.19873046875,
                        "z": 369.7877197265625
                    },
                    "rotation": {
                        "roll": 0.0008863442344591022,
                        "pitch": 0.27466920018196106,
                        "yaw": 179.66070556640625
                    }
                },
                "velocity": {
                    "x": -7.372993469238281,
                    "y": 0.04354647547006607,
                    "z": 0.04131603240966797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.050166130065918,
                "transform": {
                    "location": {
                        "x": 669.8984375,
                        "y": 4290.306640625,
                        "z": 369.84857177734375
                    },
                    "rotation": {
                        "roll": -0.00033569327206350863,
                        "pitch": 0.3140794038772583,
                        "yaw": 179.65939331054688
                    }
                },
                "velocity": {
                    "x": -8.049896240234375,
                    "y": 0.047840848565101624,
                    "z": 0.04533971846103668
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.21636946499347687,
        "expert_target_speed": 10.0,
        "target_point": [
            36.57390207744196,
            1.6469203869251978
        ],
        "target_point_next": [
            87.52955608313431,
            3.7726450237857305
        ]
    },
    "130": {
        "acceleration": [
            -0.041351318359375,
            1.5919852256774902,
            -0.0008220970630645752
        ],
        "angular_velocity": [
            0.4567677080631256,
            -0.37322255969047546,
            -5.03470516204834
        ],
        "forward_vector": [
            -0.9977558255195618,
            0.06648492813110352,
            0.007942354306578636
        ],
        "right_vector": [
            -0.06654474884271622,
            -0.9977550506591797,
            -0.007522048428654671
        ],
        "location": [
            662.08203125,
            4287.564453125,
            369.8933410644531
        ],
        "rotation": [
            0.4309992790222168,
            0.4550681710243225,
            176.18775939941406
        ],
        "velocity": [
            -20.34120750427246,
            1.2731950283050537,
            0.1106291338801384
        ],
        "speed": 20.38101440831567,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 19.637311935424805,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.541152000427246,
                "transform": {
                    "location": {
                        "x": 621.4058227539062,
                        "y": 4297.2578125,
                        "z": 370.0993347167969
                    },
                    "rotation": {
                        "roll": -0.0031433103140443563,
                        "pitch": -0.37835147976875305,
                        "yaw": 0.11646217852830887
                    }
                },
                "velocity": {
                    "x": 5.541067600250244,
                    "y": 0.011263587512075901,
                    "z": -0.02844591997563839
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.195525169372559,
                "transform": {
                    "location": {
                        "x": 621.9420166015625,
                        "y": 4294.01123046875,
                        "z": 370.1028747558594
                    },
                    "rotation": {
                        "roll": 0.014862782321870327,
                        "pitch": -0.28643763065338135,
                        "yaw": 0.05913635343313217
                    }
                },
                "velocity": {
                    "x": 8.195409774780273,
                    "y": -0.005000470671802759,
                    "z": -0.043154843151569366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.142406463623047,
                "transform": {
                    "location": {
                        "x": 661.9320068359375,
                        "y": 4297.0537109375,
                        "z": 369.8983154296875
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.29345905780792236,
                        "yaw": -0.2986449897289276
                    }
                },
                "velocity": {
                    "x": 8.142167091369629,
                    "y": -0.04431363567709923,
                    "z": -0.04413343966007233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.21167278289795,
                "transform": {
                    "location": {
                        "x": 661.9248046875,
                        "y": 4293.8037109375,
                        "z": 369.89996337890625
                    },
                    "rotation": {
                        "roll": 0.0025387080386281013,
                        "pitch": -0.2595813274383545,
                        "yaw": -0.3147582709789276
                    }
                },
                "velocity": {
                    "x": 8.211416244506836,
                    "y": -0.045989684760570526,
                    "z": -0.045801568776369095
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051313400268555,
                "transform": {
                    "location": {
                        "x": 703.99560546875,
                        "y": 4296.80615234375,
                        "z": 369.658203125
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": -0.33193352818489075,
                        "yaw": -0.33447265625
                    }
                },
                "velocity": {
                    "x": 8.051048278808594,
                    "y": -0.047011204063892365,
                    "z": -0.04538606479763985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.272890090942383,
                "transform": {
                    "location": {
                        "x": 704.5794677734375,
                        "y": 4293.5546875,
                        "z": 369.6668701171875
                    },
                    "rotation": {
                        "roll": 4.9742116971174255e-05,
                        "pitch": -0.6850337982177734,
                        "yaw": -0.4401855170726776
                    }
                },
                "velocity": {
                    "x": 6.272671222686768,
                    "y": -0.037924326956272125,
                    "z": -0.036126431077718735
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.570396423339844,
                "transform": {
                    "location": {
                        "x": 710.0387573242188,
                        "y": 4286.8203125,
                        "z": 369.6227111816406
                    },
                    "rotation": {
                        "roll": 0.0001890487619675696,
                        "pitch": 0.33647558093070984,
                        "yaw": 179.66506958007812
                    }
                },
                "velocity": {
                    "x": -15.569859504699707,
                    "y": 0.09101454168558121,
                    "z": 0.09182756394147873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.119380950927734,
                "transform": {
                    "location": {
                        "x": 687.900146484375,
                        "y": 4286.94873046875,
                        "z": 369.7594299316406
                    },
                    "rotation": {
                        "roll": 0.0008121555438265204,
                        "pitch": 0.334235280752182,
                        "yaw": 179.6471405029297
                    }
                },
                "velocity": {
                    "x": -16.118825912475586,
                    "y": 0.09713996946811676,
                    "z": 0.09181854128837585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1039180755615234,
                "transform": {
                    "location": {
                        "x": 620.6953125,
                        "y": 4287.41943359375,
                        "z": 370.1080322265625
                    },
                    "rotation": {
                        "roll": 0.013652632012963295,
                        "pitch": 0.3172076344490051,
                        "yaw": -179.80958557128906
                    }
                },
                "velocity": {
                    "x": -3.1038737297058105,
                    "y": -0.0062660155817866325,
                    "z": 0.015363158658146858
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.397620677947998,
                "transform": {
                    "location": {
                        "x": 604.5853271484375,
                        "y": 4287.53173828125,
                        "z": 370.2229309082031
                    },
                    "rotation": {
                        "roll": 0.0006704143597744405,
                        "pitch": 0.2848461866378784,
                        "yaw": 179.99571228027344
                    }
                },
                "velocity": {
                    "x": -2.397533893585205,
                    "y": -0.011001269333064556,
                    "z": 0.017178896814584732
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.33319091796875,
                "transform": {
                    "location": {
                        "x": 723.9539794921875,
                        "y": 4289.978515625,
                        "z": 369.55169677734375
                    },
                    "rotation": {
                        "roll": 0.00033871730556711555,
                        "pitch": 0.21648965775966644,
                        "yaw": 179.5790252685547
                    }
                },
                "velocity": {
                    "x": -8.332845687866211,
                    "y": 0.05881521478295326,
                    "z": 0.04798881337046623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.023287773132324,
                "transform": {
                    "location": {
                        "x": 705.134521484375,
                        "y": 4290.09912109375,
                        "z": 369.65911865234375
                    },
                    "rotation": {
                        "roll": 0.0002773090673144907,
                        "pitch": 0.46945253014564514,
                        "yaw": 179.63821411132812
                    }
                },
                "velocity": {
                    "x": -7.02305793762207,
                    "y": 0.03951551020145416,
                    "z": 0.040882471948862076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.114852905273438,
                "transform": {
                    "location": {
                        "x": 686.3920288085938,
                        "y": 4290.21044921875,
                        "z": 369.7977294921875
                    },
                    "rotation": {
                        "roll": 0.0001362859329674393,
                        "pitch": 0.36990252137184143,
                        "yaw": 179.66018676757812
                    }
                },
                "velocity": {
                    "x": -8.114578247070312,
                    "y": 0.0481046661734581,
                    "z": 0.04624102637171745
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.39803409576416,
                "transform": {
                    "location": {
                        "x": 667.8479614257812,
                        "y": 4290.31884765625,
                        "z": 369.8597106933594
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": 0.32360750436782837,
                        "yaw": 179.6560516357422
                    }
                },
                "velocity": {
                    "x": -8.397758483886719,
                    "y": 0.05046240985393524,
                    "z": 0.04566320404410362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6289569139480591,
        "expert_target_speed": 10.0,
        "target_point": [
            31.46261920593658,
            2.2711925001409305
        ],
        "target_point_next": [
            82.36888851824723,
            5.361358366576817
        ]
    },
    "135": {
        "acceleration": [
            -0.5191421508789062,
            1.329500675201416,
            -0.015838295221328735
        ],
        "angular_velocity": [
            -0.06354445219039917,
            -0.01717042177915573,
            -3.1101415157318115
        ],
        "forward_vector": [
            -0.9963285326957703,
            0.08539418876171112,
            0.006107649300247431
        ],
        "right_vector": [
            -0.08544328808784485,
            -0.9963085651397705,
            -0.008288201875984669
        ],
        "location": [
            657.018798828125,
            4287.92626953125,
            369.9210510253906
        ],
        "rotation": [
            0.4748933017253876,
            0.34994471073150635,
            175.10121154785156
        ],
        "velocity": [
            -20.24109649658203,
            1.6225335597991943,
            0.10798367857933044
        ],
        "speed": 20.30602379927247,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.629654884338379,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 582.1410522460938,
                        "y": 4297.4267578125,
                        "z": 370.3599853515625
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 582.121826171875,
                        "y": 4294.1767578125,
                        "z": 370.3599853515625
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.061359405517578,
                "transform": {
                    "location": {
                        "x": 622.8209228515625,
                        "y": 4297.25732421875,
                        "z": 370.0915222167969
                    },
                    "rotation": {
                        "roll": 0.0005647054640576243,
                        "pitch": -0.28564533591270447,
                        "yaw": -0.030731201171875
                    }
                },
                "velocity": {
                    "x": 6.061271667480469,
                    "y": -0.012846448458731174,
                    "z": -0.03001321293413639
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.999089241027832,
                "transform": {
                    "location": {
                        "x": 623.9652099609375,
                        "y": 4294.00830078125,
                        "z": 370.0925598144531
                    },
                    "rotation": {
                        "roll": 0.02174955978989601,
                        "pitch": -0.2927555441856384,
                        "yaw": -0.0950622484087944
                    }
                },
                "velocity": {
                    "x": 7.998967170715332,
                    "y": -0.018795348703861237,
                    "z": -0.03995949774980545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.99497127532959,
                "transform": {
                    "location": {
                        "x": 663.9447021484375,
                        "y": 4297.0419921875,
                        "z": 369.8873596191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.32531505823135376,
                        "yaw": -0.31961050629615784
                    }
                },
                "velocity": {
                    "x": 7.9947190284729,
                    "y": -0.04500710964202881,
                    "z": -0.044840455055236816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.999688148498535,
                "transform": {
                    "location": {
                        "x": 663.9562377929688,
                        "y": 4293.7919921875,
                        "z": 369.8889465332031
                    },
                    "rotation": {
                        "roll": 0.0023102681152522564,
                        "pitch": -0.3316330015659332,
                        "yaw": -0.3258361220359802
                    }
                },
                "velocity": {
                    "x": 7.999428749084473,
                    "y": -0.0464620515704155,
                    "z": -0.044635526835918427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084807395935059,
                "transform": {
                    "location": {
                        "x": 706.0126342773438,
                        "y": 4296.79443359375,
                        "z": 369.64654541015625
                    },
                    "rotation": {
                        "roll": 0.00010207560262642801,
                        "pitch": -0.33278727531433105,
                        "yaw": -0.3351134955883026
                    }
                },
                "velocity": {
                    "x": 8.084540367126465,
                    "y": -0.04717961698770523,
                    "z": -0.0457133986055851
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.510402202606201,
                "transform": {
                    "location": {
                        "x": 706.0216064453125,
                        "y": 4293.546875,
                        "z": 369.6584167480469
                    },
                    "rotation": {
                        "roll": 0.00011872254981426522,
                        "pitch": -0.6561899185180664,
                        "yaw": -0.5287476181983948
                    }
                },
                "velocity": {
                    "x": 5.510202407836914,
                    "y": -0.033840447664260864,
                    "z": -0.03249363973736763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.551563262939453,
                "transform": {
                    "location": {
                        "x": 706.1487426757812,
                        "y": 4286.84375,
                        "z": 369.6453857421875
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": 0.33281460404396057,
                        "yaw": 179.66036987304688
                    }
                },
                "velocity": {
                    "x": -15.551021575927734,
                    "y": 0.0919533520936966,
                    "z": 0.09162914007902145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.125328063964844,
                "transform": {
                    "location": {
                        "x": 683.8695068359375,
                        "y": 4286.97216796875,
                        "z": 369.78216552734375
                    },
                    "rotation": {
                        "roll": 0.0005630876403301954,
                        "pitch": 0.3309636414051056,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -16.124773025512695,
                    "y": 0.09753108769655228,
                    "z": 0.09150787442922592
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.258648633956909,
                "transform": {
                    "location": {
                        "x": 619.8637084960938,
                        "y": 4287.41748046875,
                        "z": 370.1119079589844
                    },
                    "rotation": {
                        "roll": 0.009236607700586319,
                        "pitch": 0.34534117579460144,
                        "yaw": -179.8448944091797
                    }
                },
                "velocity": {
                    "x": -3.2585978507995605,
                    "y": -0.005645435769110918,
                    "z": 0.017338819801807404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.591463565826416,
                "transform": {
                    "location": {
                        "x": 603.8461303710938,
                        "y": 4287.529296875,
                        "z": 370.2261962890625
                    },
                    "rotation": {
                        "roll": 0.0005527445464394987,
                        "pitch": 0.3714803159236908,
                        "yaw": -179.91677856445312
                    }
                },
                "velocity": {
                    "x": -3.591381072998047,
                    "y": -0.016359763219952583,
                    "z": 0.018002910539507866
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.829854965209961,
                "transform": {
                    "location": {
                        "x": 721.7716064453125,
                        "y": 4289.994140625,
                        "z": 369.5639343261719
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.2727431058883667,
                        "yaw": 179.5836639404297
                    }
                },
                "velocity": {
                    "x": -8.829473495483398,
                    "y": 0.06418021768331528,
                    "z": 0.051133010536432266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.794973373413086,
                "transform": {
                    "location": {
                        "x": 703.4412231445312,
                        "y": 4290.109375,
                        "z": 369.6696472167969
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.3801068365573883,
                        "yaw": 179.7234344482422
                    }
                },
                "velocity": {
                    "x": -6.794754505157471,
                    "y": 0.03670504316687584,
                    "z": 0.04038011282682419
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.656912803649902,
                "transform": {
                    "location": {
                        "x": 684.2611083984375,
                        "y": 4290.22314453125,
                        "z": 369.8096008300781
                    },
                    "rotation": {
                        "roll": 0.0004106421838514507,
                        "pitch": 0.3848743140697479,
                        "yaw": 179.65992736816406
                    }
                },
                "velocity": {
                    "x": -8.656622886657715,
                    "y": 0.05138137564063072,
                    "z": 0.04885025694966316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.018023490905762,
                "transform": {
                    "location": {
                        "x": 665.66943359375,
                        "y": 4290.33203125,
                        "z": 369.8714294433594
                    },
                    "rotation": {
                        "roll": 0.00031513621797785163,
                        "pitch": 0.33205646276474,
                        "yaw": 179.65341186523438
                    }
                },
                "velocity": {
                    "x": -9.017725944519043,
                    "y": 0.05434476211667061,
                    "z": 0.04918811842799187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9993650317192078,
        "expert_target_speed": 10.0,
        "target_point": [
            26.338259504359932,
            2.7955164785722455
        ],
        "target_point_next": [
            77.17677765837276,
            6.8504458594240925
        ]
    },
    "140": {
        "acceleration": [
            -0.7043075561523438,
            -0.5613088607788086,
            0.0044792890548706055
        ],
        "angular_velocity": [
            -1.8375910520553589,
            0.2073860615491867,
            2.8711018562316895
        ],
        "forward_vector": [
            -0.995945930480957,
            0.08968625217676163,
            0.006939712446182966
        ],
        "right_vector": [
            -0.08972129225730896,
            -0.9959548115730286,
            -0.004914826713502407
        ],
        "location": [
            651.9248046875,
            4288.35791015625,
            369.9480285644531
        ],
        "rotation": [
            0.2816067337989807,
            0.39761942625045776,
            174.8543243408203
        ],
        "velocity": [
            -20.478487014770508,
            1.753861665725708,
            0.10773328691720963
        ],
        "speed": 20.553453752511437,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.679024696350098,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04920482635498,
                "transform": {
                    "location": {
                        "x": 584.2142944335938,
                        "y": 4297.4150390625,
                        "z": 370.31494140625
                    },
                    "rotation": {
                        "roll": -0.011993407271802425,
                        "pitch": -0.27320072054862976,
                        "yaw": -0.3088073432445526
                    }
                },
                "velocity": {
                    "x": 8.046442985534668,
                    "y": -0.01478414423763752,
                    "z": -0.21031278371810913
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06674575805664,
                "transform": {
                    "location": {
                        "x": 584.1927490234375,
                        "y": 4294.1650390625,
                        "z": 370.3135070800781
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.25311315059661865,
                        "yaw": -0.3067931830883026
                    }
                },
                "velocity": {
                    "x": 8.063263893127441,
                    "y": -0.015156364068388939,
                    "z": -0.23648902773857117
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.656112194061279,
                "transform": {
                    "location": {
                        "x": 624.4436645507812,
                        "y": 4297.25341796875,
                        "z": 370.0828552246094
                    },
                    "rotation": {
                        "roll": 0.0004963321262039244,
                        "pitch": -0.19039833545684814,
                        "yaw": -0.12319944053888321
                    }
                },
                "velocity": {
                    "x": 7.655993938446045,
                    "y": -0.018436819314956665,
                    "z": -0.03838857635855675
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.14871883392334,
                "transform": {
                    "location": {
                        "x": 625.7051391601562,
                        "y": 4294.00439453125,
                        "z": 370.0858459472656
                    },
                    "rotation": {
                        "roll": 0.010598810389637947,
                        "pitch": -0.8066111207008362,
                        "yaw": -0.15765380859375
                    }
                },
                "velocity": {
                    "x": 6.148608207702637,
                    "y": -0.01838359609246254,
                    "z": -0.03195272013545036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06910228729248,
                "transform": {
                    "location": {
                        "x": 665.9512329101562,
                        "y": 4297.0302734375,
                        "z": 369.87646484375
                    },
                    "rotation": {
                        "roll": 0.0003923489130102098,
                        "pitch": -0.3092982769012451,
                        "yaw": -0.3186340034008026
                    }
                },
                "velocity": {
                    "x": 8.06884765625,
                    "y": -0.04508528113365173,
                    "z": -0.04563377797603607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.009108543395996,
                "transform": {
                    "location": {
                        "x": 665.947021484375,
                        "y": 4293.7802734375,
                        "z": 369.8780822753906
                    },
                    "rotation": {
                        "roll": 0.000559361360501498,
                        "pitch": -0.32088908553123474,
                        "yaw": -0.3347167372703552
                    }
                },
                "velocity": {
                    "x": 8.0088529586792,
                    "y": -0.046837642788887024,
                    "z": -0.043555062264204025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052552223205566,
                "transform": {
                    "location": {
                        "x": 708.0296630859375,
                        "y": 4296.78271484375,
                        "z": 369.63482666015625
                    },
                    "rotation": {
                        "roll": 4.7418481699423864e-05,
                        "pitch": -0.33284875750541687,
                        "yaw": -0.340087890625
                    }
                },
                "velocity": {
                    "x": 8.052275657653809,
                    "y": -0.04809056222438812,
                    "z": -0.04630856588482857
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.443033218383789,
                "transform": {
                    "location": {
                        "x": 707.46630859375,
                        "y": 4293.537109375,
                        "z": 369.6461181640625
                    },
                    "rotation": {
                        "roll": 0.0011362690711393952,
                        "pitch": -0.18970166146755219,
                        "yaw": -0.4535522758960724
                    }
                },
                "velocity": {
                    "x": 6.442779541015625,
                    "y": -0.04268963634967804,
                    "z": -0.03800753131508827
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.541011810302734,
                "transform": {
                    "location": {
                        "x": 702.2625732421875,
                        "y": 4286.8671875,
                        "z": 369.66790771484375
                    },
                    "rotation": {
                        "roll": 0.0010671935742720962,
                        "pitch": 0.33278727531433105,
                        "yaw": 179.66372680664062
                    }
                },
                "velocity": {
                    "x": -15.540477752685547,
                    "y": 0.09121698141098022,
                    "z": 0.09101974219083786
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.12543487548828,
                "transform": {
                    "location": {
                        "x": 679.8382568359375,
                        "y": 4286.99755859375,
                        "z": 369.80474853515625
                    },
                    "rotation": {
                        "roll": 0.0010861860355362296,
                        "pitch": 0.32524675130844116,
                        "yaw": 179.6441650390625
                    }
                },
                "velocity": {
                    "x": -16.124874114990234,
                    "y": 0.09841176122426987,
                    "z": 0.09163171797990799
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3026349544525146,
                "transform": {
                    "location": {
                        "x": 619.0770874023438,
                        "y": 4287.4150390625,
                        "z": 370.1160583496094
                    },
                    "rotation": {
                        "roll": 0.004971025977283716,
                        "pitch": 0.2820867896080017,
                        "yaw": -179.86985778808594
                    }
                },
                "velocity": {
                    "x": -3.30258846282959,
                    "y": -0.005051560699939728,
                    "z": 0.01678628847002983
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.905963897705078,
                "transform": {
                    "location": {
                        "x": 602.774658203125,
                        "y": 4287.52490234375,
                        "z": 370.23101806640625
                    },
                    "rotation": {
                        "roll": 0.0013223119312897325,
                        "pitch": 0.40645086765289307,
                        "yaw": -179.8348388671875
                    }
                },
                "velocity": {
                    "x": -4.905856609344482,
                    "y": -0.02301241084933281,
                    "z": 0.022802408784627914
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.563996315002441,
                "transform": {
                    "location": {
                        "x": 719.5823364257812,
                        "y": 4290.009765625,
                        "z": 369.57611083984375
                    },
                    "rotation": {
                        "roll": 0.0002251636324217543,
                        "pitch": 0.34069663286209106,
                        "yaw": 179.60325622558594
                    }
                },
                "velocity": {
                    "x": -8.563657760620117,
                    "y": 0.05614948272705078,
                    "z": 0.05139366164803505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.502683639526367,
                "transform": {
                    "location": {
                        "x": 701.662109375,
                        "y": 4290.119140625,
                        "z": 369.68084716796875
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": 0.27596694231033325,
                        "yaw": 179.6673583984375
                    }
                },
                "velocity": {
                    "x": -7.502431392669678,
                    "y": 0.044814493507146835,
                    "z": 0.042179763317108154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.858686447143555,
                "transform": {
                    "location": {
                        "x": 682.0924682617188,
                        "y": 4290.23681640625,
                        "z": 369.8220520019531
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": 0.34942561388015747,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": -8.85840892791748,
                    "y": 0.05069934204220772,
                    "z": 0.04855952039361
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.621966361999512,
                "transform": {
                    "location": {
                        "x": 663.3370361328125,
                        "y": 4290.345703125,
                        "z": 369.88409423828125
                    },
                    "rotation": {
                        "roll": 5.9958172641927376e-05,
                        "pitch": 0.33131879568099976,
                        "yaw": 179.6514434814453
                    }
                },
                "velocity": {
                    "x": -9.62165355682373,
                    "y": 0.058302588760852814,
                    "z": 0.051192596554756165
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0012366771697998,
        "expert_target_speed": 10.0,
        "target_point": [
            21.213790761868555,
            2.8820160507462402
        ],
        "target_point_next": [
            72.03436355017557,
            7.1559792990646125
        ]
    },
    "145": {
        "acceleration": [
            -0.3188323974609375,
            -1.397230625152588,
            -0.012197494506835938
        ],
        "angular_velocity": [
            -1.1683229207992554,
            -0.056728146970272064,
            5.402199745178223
        ],
        "forward_vector": [
            -0.9981998801231384,
            0.05959863215684891,
            0.006715485360473394
        ],
        "right_vector": [
            -0.0595751591026783,
            -0.9982171654701233,
            0.00364258186891675
        ],
        "location": [
            646.7864990234375,
            4288.74853515625,
            369.9753112792969
        ],
        "rotation": [
            -0.2087097316980362,
            0.38477185368537903,
            176.58314514160156
        ],
        "velocity": [
            -20.606117248535156,
            1.3907502889633179,
            0.10747787356376648
        ],
        "speed": 20.652996257846695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 5.001720905303955,
        "front_vehicle_info": {
            "id": 3697,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.267943382263184,
                "transform": {
                    "location": {
                        "x": 586.2532958984375,
                        "y": 4297.41845703125,
                        "z": 370.2732849121094
                    },
                    "rotation": {
                        "roll": -0.056213367730379105,
                        "pitch": -0.2717595398426056,
                        "yaw": 0.15852612257003784
                    }
                },
                "velocity": {
                    "x": 8.267220497131348,
                    "y": 0.05496099963784218,
                    "z": -0.09455423057079315
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087183952331543,
                "transform": {
                    "location": {
                        "x": 586.2109375,
                        "y": 4294.16796875,
                        "z": 370.2718811035156
                    },
                    "rotation": {
                        "roll": -0.006805420387536287,
                        "pitch": -0.25134411454200745,
                        "yaw": 0.1754825860261917
                    }
                },
                "velocity": {
                    "x": 8.086505889892578,
                    "y": 0.05705985426902771,
                    "z": -0.08779553323984146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.390091896057129,
                "transform": {
                    "location": {
                        "x": 626.5150146484375,
                        "y": 4297.2490234375,
                        "z": 370.07275390625
                    },
                    "rotation": {
                        "roll": 0.0006006338517181575,
                        "pitch": -0.21447475254535675,
                        "yaw": -0.1403198093175888
                    }
                },
                "velocity": {
                    "x": 8.389971733093262,
                    "y": -0.02074412629008293,
                    "z": -0.039821282029151917
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.042722702026367,
                "transform": {
                    "location": {
                        "x": 627.2156982421875,
                        "y": 4293.99951171875,
                        "z": 370.0773010253906
                    },
                    "rotation": {
                        "roll": 0.011851081624627113,
                        "pitch": -0.5506839752197266,
                        "yaw": -0.1690063327550888
                    }
                },
                "velocity": {
                    "x": 6.042601108551025,
                    "y": -0.024695109575986862,
                    "z": -0.029345210641622543
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.061969757080078,
                "transform": {
                    "location": {
                        "x": 667.97021484375,
                        "y": 4297.0185546875,
                        "z": 369.86541748046875
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.3138744831085205,
                        "yaw": -0.3254393935203552
                    }
                },
                "velocity": {
                    "x": 8.061715126037598,
                    "y": -0.04552442580461502,
                    "z": -0.045156944543123245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.096015930175781,
                "transform": {
                    "location": {
                        "x": 667.9672241210938,
                        "y": 4293.7685546875,
                        "z": 369.8670349121094
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": -0.3013615906238556,
                        "yaw": -0.3349609076976776
                    }
                },
                "velocity": {
                    "x": 8.095754623413086,
                    "y": -0.0473201610147953,
                    "z": -0.04470883309841156
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083171844482422,
                "transform": {
                    "location": {
                        "x": 710.0466918945312,
                        "y": 4296.77099609375,
                        "z": 369.62310791015625
                    },
                    "rotation": {
                        "roll": 0.0006051731761544943,
                        "pitch": -0.3342011272907257,
                        "yaw": -0.3454895317554474
                    }
                },
                "velocity": {
                    "x": 8.082887649536133,
                    "y": -0.0486932136118412,
                    "z": -0.04708943888545036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6903862953186035,
                "transform": {
                    "location": {
                        "x": 709.3017578125,
                        "y": 4293.525390625,
                        "z": 369.6331481933594
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": 0.09500109404325485,
                        "yaw": -0.3807372450828552
                    }
                },
                "velocity": {
                    "x": 7.690108299255371,
                    "y": -0.048160117119550705,
                    "z": -0.04423578456044197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.538389205932617,
                "transform": {
                    "location": {
                        "x": 698.3778686523438,
                        "y": 4286.890625,
                        "z": 369.69036865234375
                    },
                    "rotation": {
                        "roll": -0.0003356932138558477,
                        "pitch": 0.33135294914245605,
                        "yaw": 179.66957092285156
                    }
                },
                "velocity": {
                    "x": -15.537870407104492,
                    "y": 0.08878142386674881,
                    "z": 0.09079322963953018
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.12449836730957,
                "transform": {
                    "location": {
                        "x": 675.8071899414062,
                        "y": 4287.02294921875,
                        "z": 369.8272705078125
                    },
                    "rotation": {
                        "roll": 0.0006687291897833347,
                        "pitch": 0.32293814420700073,
                        "yaw": 179.65444946289062
                    }
                },
                "velocity": {
                    "x": -16.123950958251953,
                    "y": 0.09735435992479324,
                    "z": 0.09038036316633224
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.520298004150391,
                "transform": {
                    "location": {
                        "x": 618.094970703125,
                        "y": 4287.4130859375,
                        "z": 370.1195983886719
                    },
                    "rotation": {
                        "roll": 0.0043550701811909676,
                        "pitch": 0.603529155254364,
                        "yaw": -179.8911590576172
                    }
                },
                "velocity": {
                    "x": -4.5202436447143555,
                    "y": -0.006137751042842865,
                    "z": 0.021274413913488388
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.294037342071533,
                "transform": {
                    "location": {
                        "x": 601.46826171875,
                        "y": 4287.52001953125,
                        "z": 370.2379455566406
                    },
                    "rotation": {
                        "roll": 0.0020986890885978937,
                        "pitch": 0.33538275957107544,
                        "yaw": -179.7749786376953
                    }
                },
                "velocity": {
                    "x": -5.293919563293457,
                    "y": -0.02531265839934349,
                    "z": 0.024610299617052078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 717.5154418945312,
                        "y": 4290.04833984375,
                        "z": 369.5869445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.33312880992889404,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.001105308532715,
                "transform": {
                    "location": {
                        "x": 699.6627807617188,
                        "y": 4290.13037109375,
                        "z": 369.6930847167969
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.17705897986888885,
                        "yaw": 179.64447021484375
                    }
                },
                "velocity": {
                    "x": -9.000786781311035,
                    "y": 0.05508260056376457,
                    "z": 0.05197310447692871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.79063892364502,
                "transform": {
                    "location": {
                        "x": 679.755615234375,
                        "y": 4290.25,
                        "z": 369.8345947265625
                    },
                    "rotation": {
                        "roll": -0.00030517560662701726,
                        "pitch": 0.407154381275177,
                        "yaw": 179.6675567626953
                    }
                },
                "velocity": {
                    "x": -9.790324211120605,
                    "y": 0.056812070310115814,
                    "z": 0.05411236733198166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.280891418457031,
                "transform": {
                    "location": {
                        "x": 660.8457641601562,
                        "y": 4290.361328125,
                        "z": 369.8975830078125
                    },
                    "rotation": {
                        "roll": -0.0009155271109193563,
                        "pitch": 0.3309977650642395,
                        "yaw": 179.6496124267578
                    }
                },
                "velocity": {
                    "x": -10.280552864074707,
                    "y": 0.06262245774269104,
                    "z": 0.055160731077194214
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0002223253250122,
        "expert_target_speed": 10.0,
        "target_point": [
            16.13862975478604,
            2.324389643925981
        ],
        "target_point_next": [
            67.06501137987217,
            5.063191381123534
        ]
    },
    "150": {
        "acceleration": [
            -0.11081695556640625,
            -1.0686755180358887,
            -0.0005269050598144531
        ],
        "angular_velocity": [
            -0.10402552038431168,
            -0.09073322266340256,
            1.9158636331558228
        ],
        "forward_vector": [
            -0.9989532828330994,
            0.045332171022892,
            0.006106814835220575
        ],
        "right_vector": [
            -0.04529012367129326,
            -0.9989503622055054,
            0.006856393069028854
        ],
        "location": [
            641.6289672851562,
            4289.05078125,
            370.00238037109375
        ],
        "rotation": [
            -0.392852783203125,
            0.3498969078063965,
            177.40171813964844
        ],
        "velocity": [
            -20.648645401000977,
            1.0550249814987183,
            0.10750220715999603
        ],
        "speed": 20.675580635325943,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.044388771057129,
                "transform": {
                    "location": {
                        "x": 588.2908325195312,
                        "y": 4297.42529296875,
                        "z": 370.26385498046875
                    },
                    "rotation": {
                        "roll": 0.0065533798187971115,
                        "pitch": -0.25247108936309814,
                        "yaw": 0.26790258288383484
                    }
                },
                "velocity": {
                    "x": 8.044342041015625,
                    "y": 0.02623397298157215,
                    "z": -0.008249168284237385
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.040895462036133,
                "transform": {
                    "location": {
                        "x": 588.2265625,
                        "y": 4294.17626953125,
                        "z": 370.2590637207031
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.2540283799171448,
                        "yaw": 0.2715710401535034
                    }
                },
                "velocity": {
                    "x": 8.040771484375,
                    "y": 0.02738925814628601,
                    "z": -0.03532081097364426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.897541522979736,
                "transform": {
                    "location": {
                        "x": 628.5447387695312,
                        "y": 4297.24169921875,
                        "z": 370.0633239746094
                    },
                    "rotation": {
                        "roll": 0.0012695398181676865,
                        "pitch": -0.29809674620628357,
                        "yaw": -0.2147216498851776
                    }
                },
                "velocity": {
                    "x": 7.897369384765625,
                    "y": -0.03287294879555702,
                    "z": -0.04049967601895332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.860253810882568,
                "transform": {
                    "location": {
                        "x": 628.931396484375,
                        "y": 4293.9921875,
                        "z": 370.06634521484375
                    },
                    "rotation": {
                        "roll": 0.008533220738172531,
                        "pitch": 0.09652423113584518,
                        "yaw": -0.2929686903953552
                    }
                },
                "velocity": {
                    "x": 7.860062122344971,
                    "y": -0.037974901497364044,
                    "z": -0.0396558903157711
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040055274963379,
                "transform": {
                    "location": {
                        "x": 669.9811401367188,
                        "y": 4297.0068359375,
                        "z": 369.85443115234375
                    },
                    "rotation": {
                        "roll": -0.0004577638173941523,
                        "pitch": -0.31695491075515747,
                        "yaw": -0.3225097358226776
                    }
                },
                "velocity": {
                    "x": 8.039803504943848,
                    "y": -0.0455048643052578,
                    "z": -0.044480957090854645
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.009498596191406,
                "transform": {
                    "location": {
                        "x": 669.9783935546875,
                        "y": 4293.7568359375,
                        "z": 369.8560485839844
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.32531505823135376,
                        "yaw": -0.3348082900047302
                    }
                },
                "velocity": {
                    "x": 8.009238243103027,
                    "y": -0.04687117785215378,
                    "z": -0.04448423907160759
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052236557006836,
                "transform": {
                    "location": {
                        "x": 712.0634155273438,
                        "y": 4296.75927734375,
                        "z": 369.61138916015625
                    },
                    "rotation": {
                        "roll": 0.0013558820355683565,
                        "pitch": -0.33370935916900635,
                        "yaw": -0.3461913764476776
                    }
                },
                "velocity": {
                    "x": 8.051942825317383,
                    "y": -0.04861855506896973,
                    "z": -0.048566821962594986
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.681863784790039,
                "transform": {
                    "location": {
                        "x": 711.4112548828125,
                        "y": 4293.51171875,
                        "z": 369.6224060058594
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.09295886754989624,
                        "yaw": -0.3575438857078552
                    }
                },
                "velocity": {
                    "x": 8.68155288696289,
                    "y": -0.05424361675977707,
                    "z": -0.04957978054881096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.53808307647705,
                "transform": {
                    "location": {
                        "x": 694.4935913085938,
                        "y": 4286.912109375,
                        "z": 369.7127380371094
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.327487051486969,
                        "yaw": 179.67129516601562
                    }
                },
                "velocity": {
                    "x": -15.53757381439209,
                    "y": 0.08944699913263321,
                    "z": 0.08850837498903275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.124319076538086,
                "transform": {
                    "location": {
                        "x": 671.7762451171875,
                        "y": 4287.04638671875,
                        "z": 369.8495178222656
                    },
                    "rotation": {
                        "roll": 0.00011584873573156074,
                        "pitch": 0.3204861283302307,
                        "yaw": 179.65328979492188
                    }
                },
                "velocity": {
                    "x": -16.123790740966797,
                    "y": 0.09678146988153458,
                    "z": 0.08777980506420135
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.332530975341797,
                "transform": {
                    "location": {
                        "x": 616.819580078125,
                        "y": 4287.4111328125,
                        "z": 370.1257629394531
                    },
                    "rotation": {
                        "roll": 0.0014981754356995225,
                        "pitch": 0.6821377873420715,
                        "yaw": -179.87477111816406
                    }
                },
                "velocity": {
                    "x": -5.332459449768066,
                    "y": -0.0090401042252779,
                    "z": 0.026144398376345634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.067223072052002,
                "transform": {
                    "location": {
                        "x": 600.036376953125,
                        "y": 4287.51611328125,
                        "z": 370.24468994140625
                    },
                    "rotation": {
                        "roll": 0.008116287179291248,
                        "pitch": 0.3286823332309723,
                        "yaw": -179.79566955566406
                    }
                },
                "velocity": {
                    "x": -6.067163944244385,
                    "y": 0.0003095606807619333,
                    "z": 0.02681051194667816
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 714.2966918945312,
                        "y": 4290.12841796875,
                        "z": 369.60394287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.33312880992889404,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.960614204406738,
                "transform": {
                    "location": {
                        "x": 697.264892578125,
                        "y": 4290.14501953125,
                        "z": 369.7066650390625
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": 0.21392151713371277,
                        "yaw": 179.631103515625
                    }
                },
                "velocity": {
                    "x": -9.9602632522583,
                    "y": 0.061351072043180466,
                    "z": 0.05688212439417839
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.21171760559082,
                "transform": {
                    "location": {
                        "x": 677.2366333007812,
                        "y": 4290.26513671875,
                        "z": 369.8488464355469
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.3763980567455292,
                        "yaw": 179.66748046875
                    }
                },
                "velocity": {
                    "x": -10.211385726928711,
                    "y": 0.059262193739414215,
                    "z": 0.057083576917648315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.359992980957031,
                "transform": {
                    "location": {
                        "x": 658.2431030273438,
                        "y": 4290.376953125,
                        "z": 369.91168212890625
                    },
                    "rotation": {
                        "roll": -0.0006408689660020173,
                        "pitch": 0.3148648738861084,
                        "yaw": 179.65126037597656
                    }
                },
                "velocity": {
                    "x": -10.359651565551758,
                    "y": 0.062118515372276306,
                    "z": 0.05663947016000748
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9990448355674744,
        "expert_target_speed": 10.0,
        "target_point": [
            11.004258965784175,
            2.1617187171312855
        ],
        "target_point_next": [
            61.964571093379135,
            4.1726807350933415
        ]
    },
    "155": {
        "acceleration": [
            -0.176544189453125,
            -0.6075787544250488,
            0.0135020911693573
        ],
        "angular_velocity": [
            0.2909305691719055,
            -0.07401447743177414,
            0.7079607248306274
        ],
        "forward_vector": [
            -0.9990711212158203,
            0.0426967479288578,
            0.005814638454467058
        ],
        "right_vector": [
            -0.04266613721847534,
            -0.9990753531455994,
            0.005289988126605749
        ],
        "location": [
            636.4627075195312,
            4289.29638671875,
            370.0292053222656
        ],
        "rotation": [
            -0.3031005263328552,
            0.33315610885620117,
            177.55287170410156
        ],
        "velocity": [
            -20.685749053955078,
            0.9089894890785217,
            0.10737954825162888
        ],
        "speed": 20.705711188328177,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.269784927368164,
                "transform": {
                    "location": {
                        "x": 590.33154296875,
                        "y": 4297.431640625,
                        "z": 370.26019287109375
                    },
                    "rotation": {
                        "roll": 0.004894500598311424,
                        "pitch": -0.24908332526683807,
                        "yaw": 0.18809621036052704
                    }
                },
                "velocity": {
                    "x": 8.269718170166016,
                    "y": 0.020855149254202843,
                    "z": -0.025760363787412643
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067706108093262,
                "transform": {
                    "location": {
                        "x": 590.2403564453125,
                        "y": 4294.1826171875,
                        "z": 370.2504577636719
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.2523481547832489,
                        "yaw": 0.17637574672698975
                    }
                },
                "velocity": {
                    "x": 8.067610740661621,
                    "y": 0.019290762022137642,
                    "z": -0.034203361719846725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.041645050048828,
                "transform": {
                    "location": {
                        "x": 630.5211791992188,
                        "y": 4297.23388671875,
                        "z": 370.0531921386719
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.286833792924881,
                        "yaw": -0.2485046535730362
                    }
                },
                "velocity": {
                    "x": 8.041458129882812,
                    "y": -0.03697418048977852,
                    "z": -0.04061040282249451
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.326616287231445,
                "transform": {
                    "location": {
                        "x": 631.0000610351562,
                        "y": 4293.982421875,
                        "z": 370.0559997558594
                    },
                    "rotation": {
                        "roll": 0.00293442839756608,
                        "pitch": 0.06453845649957657,
                        "yaw": -0.268585205078125
                    }
                },
                "velocity": {
                    "x": 8.326414108276367,
                    "y": -0.04106612130999565,
                    "z": -0.040943264961242676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.061044692993164,
                "transform": {
                    "location": {
                        "x": 671.9942016601562,
                        "y": 4296.9951171875,
                        "z": 369.8433837890625
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": -0.31463947892189026,
                        "yaw": -0.3290405869483948
                    }
                },
                "velocity": {
                    "x": 8.060791015625,
                    "y": -0.04606761410832405,
                    "z": -0.04440727457404137
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05145263671875,
                "transform": {
                    "location": {
                        "x": 671.9844360351562,
                        "y": 4293.7451171875,
                        "z": 369.84503173828125
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": -0.3126792013645172,
                        "yaw": -0.3350220024585724
                    }
                },
                "velocity": {
                    "x": 8.051191329956055,
                    "y": -0.047027114778757095,
                    "z": -0.04479001462459564
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3711,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 714.145751953125,
                        "y": 4296.69580078125,
                        "z": 369.6018981933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3710,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 713.5065307617188,
                        "y": 4293.46142578125,
                        "z": 369.6098327636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 15.462791442871094,
                "transform": {
                    "location": {
                        "x": 690.6130981445312,
                        "y": 4286.9345703125,
                        "z": 369.7347717285156
                    },
                    "rotation": {
                        "roll": -0.00045776349725201726,
                        "pitch": 0.3260253965854645,
                        "yaw": 179.66644287109375
                    }
                },
                "velocity": {
                    "x": -15.462281227111816,
                    "y": 0.08982117474079132,
                    "z": 0.08784015476703644
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.205448150634766,
                "transform": {
                    "location": {
                        "x": 667.8387451171875,
                        "y": 4287.06982421875,
                        "z": 369.87225341796875
                    },
                    "rotation": {
                        "roll": -0.0013122553937137127,
                        "pitch": 0.161930114030838,
                        "yaw": 179.66944885253906
                    }
                },
                "velocity": {
                    "x": -15.20495319366455,
                    "y": 0.08992813527584076,
                    "z": 0.08353040367364883
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.413582801818848,
                "transform": {
                    "location": {
                        "x": 615.4193725585938,
                        "y": 4287.41015625,
                        "z": 370.1324462890625
                    },
                    "rotation": {
                        "roll": 0.021416649222373962,
                        "pitch": 0.6857577562332153,
                        "yaw": 179.98574829101562
                    }
                },
                "velocity": {
                    "x": -6.413503646850586,
                    "y": 0.010197303257882595,
                    "z": 0.030202263966202736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.419608116149902,
                "transform": {
                    "location": {
                        "x": 598.1481323242188,
                        "y": 4287.51513671875,
                        "z": 370.2522277832031
                    },
                    "rotation": {
                        "roll": 0.0068497187457978725,
                        "pitch": 0.4703199565410614,
                        "yaw": -179.95399475097656
                    }
                },
                "velocity": {
                    "x": -8.419520378112793,
                    "y": 0.0057390485890209675,
                    "z": 0.03817775472998619
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 711.4791259765625,
                        "y": 4290.15966796875,
                        "z": 369.6199645996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.33312880992889404,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.046728134155273,
                "transform": {
                    "location": {
                        "x": 694.7230224609375,
                        "y": 4290.1611328125,
                        "z": 369.720458984375
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": 0.29973599314689636,
                        "yaw": 179.66708374023438
                    }
                },
                "velocity": {
                    "x": -10.046395301818848,
                    "y": 0.05923043191432953,
                    "z": 0.05628573149442673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.910745620727539,
                "transform": {
                    "location": {
                        "x": 674.7254028320312,
                        "y": 4290.279296875,
                        "z": 369.8633117675781
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.3089021146297455,
                        "yaw": 179.6675567626953
                    }
                },
                "velocity": {
                    "x": -9.91042423248291,
                    "y": 0.057446081191301346,
                    "z": 0.055325306951999664
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.698831558227539,
                "transform": {
                    "location": {
                        "x": 655.6212158203125,
                        "y": 4290.392578125,
                        "z": 369.9258117675781
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": 0.3142160177230835,
                        "yaw": 179.65704345703125
                    }
                },
                "velocity": {
                    "x": -10.698490142822266,
                    "y": 0.06409763544797897,
                    "z": 0.05654347315430641
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0002310276031494,
        "expert_target_speed": 0,
        "target_point": [
            56.80332734812162,
            4.034008451402301
        ],
        "target_point_next": [
            62.79925563930724,
            4.254575064286203
        ]
    },
    "160": {
        "acceleration": [
            -0.40302276611328125,
            -1.076728105545044,
            -0.0013980269432067871
        ],
        "angular_velocity": [
            -0.3402858078479767,
            0.06816549599170685,
            3.978883743286133
        ],
        "forward_vector": [
            -0.999496579170227,
            0.031200222671031952,
            0.005757538601756096
        ],
        "right_vector": [
            -0.031167801469564438,
            -0.9994982481002808,
            0.005637256428599358
        ],
        "location": [
            631.2847290039062,
            4289.49853515625,
            370.0556640625
        ],
        "rotation": [
            -0.3229980766773224,
            0.32988446950912476,
            178.2120361328125
        ],
        "velocity": [
            -20.74767303466797,
            0.6843307614326477,
            0.10555978864431381
        ],
        "speed": 20.75895577683356,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.048930168151855,
                "transform": {
                    "location": {
                        "x": 592.3701171875,
                        "y": 4297.43603515625,
                        "z": 370.2514343261719
                    },
                    "rotation": {
                        "roll": 0.011071509681642056,
                        "pitch": -0.2599774897098541,
                        "yaw": 0.09030310064554214
                    }
                },
                "velocity": {
                    "x": 8.048829078674316,
                    "y": -0.000837901490740478,
                    "z": -0.040186669677495956
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.367228031158447,
                "transform": {
                    "location": {
                        "x": 592.1408081054688,
                        "y": 4294.18603515625,
                        "z": 370.2423095703125
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.2694372832775116,
                        "yaw": 0.08559978753328323
                    }
                },
                "velocity": {
                    "x": 7.367153644561768,
                    "y": -0.001357718021608889,
                    "z": -0.033090248703956604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.13616943359375,
                "transform": {
                    "location": {
                        "x": 632.557861328125,
                        "y": 4297.22412109375,
                        "z": 370.0428161621094
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": -0.28762608766555786,
                        "yaw": -0.2752074897289276
                    }
                },
                "velocity": {
                    "x": 8.13596248626709,
                    "y": -0.040911972522735596,
                    "z": -0.041182857006788254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.82261323928833,
                "transform": {
                    "location": {
                        "x": 633.007080078125,
                        "y": 4293.97265625,
                        "z": 370.0472717285156
                    },
                    "rotation": {
                        "roll": 0.005372385028749704,
                        "pitch": -0.3097490668296814,
                        "yaw": -0.3093872368335724
                    }
                },
                "velocity": {
                    "x": 7.822390556335449,
                    "y": -0.04256904125213623,
                    "z": -0.040933046489953995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050926208496094,
                "transform": {
                    "location": {
                        "x": 674.0084228515625,
                        "y": 4296.98291015625,
                        "z": 369.83233642578125
                    },
                    "rotation": {
                        "roll": 0.000757862813770771,
                        "pitch": -0.31804773211479187,
                        "yaw": -0.3318786323070526
                    }
                },
                "velocity": {
                    "x": 8.050660133361816,
                    "y": -0.0476403571665287,
                    "z": -0.0448436439037323
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051651000976562,
                "transform": {
                    "location": {
                        "x": 673.9994506835938,
                        "y": 4293.7333984375,
                        "z": 369.8338928222656
                    },
                    "rotation": {
                        "roll": -0.0006103516207076609,
                        "pitch": -0.31748083233833313,
                        "yaw": -0.3384094536304474
                    }
                },
                "velocity": {
                    "x": 8.051384925842285,
                    "y": -0.04749242588877678,
                    "z": -0.04503623768687248
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 14.654520034790039,
                "transform": {
                    "location": {
                        "x": 686.840087890625,
                        "y": 4286.9560546875,
                        "z": 369.75628662109375
                    },
                    "rotation": {
                        "roll": -9.155265433946624e-05,
                        "pitch": 0.3081439733505249,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -14.654027938842773,
                    "y": 0.08627542108297348,
                    "z": 0.08354421705007553
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.764548301696777,
                "transform": {
                    "location": {
                        "x": 664.2031860351562,
                        "y": 4287.09130859375,
                        "z": 369.8934326171875
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.0031418867874890566,
                        "yaw": 179.66383361816406
                    }
                },
                "velocity": {
                    "x": -13.764100074768066,
                    "y": 0.08159134536981583,
                    "z": 0.07532922923564911
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.810933589935303,
                "transform": {
                    "location": {
                        "x": 613.6296997070312,
                        "y": 4287.41357421875,
                        "z": 370.1402282714844
                    },
                    "rotation": {
                        "roll": 0.01610279642045498,
                        "pitch": 0.8685677647590637,
                        "yaw": 179.90513610839844
                    }
                },
                "velocity": {
                    "x": -7.810822010040283,
                    "y": 0.018907232210040092,
                    "z": 0.03717481344938278
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051541328430176,
                "transform": {
                    "location": {
                        "x": 596.0700073242188,
                        "y": 4287.51611328125,
                        "z": 370.2632751464844
                    },
                    "rotation": {
                        "roll": 0.0038676040712743998,
                        "pitch": 0.28685426712036133,
                        "yaw": 179.94296264648438
                    }
                },
                "velocity": {
                    "x": -8.051457405090332,
                    "y": 0.009366306476294994,
                    "z": 0.0356568917632103
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 709.040771484375,
                        "y": 4290.17431640625,
                        "z": 369.63409423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.33312880992889404,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.463318824768066,
                "transform": {
                    "location": {
                        "x": 692.302490234375,
                        "y": 4290.17529296875,
                        "z": 369.7336730957031
                    },
                    "rotation": {
                        "roll": 0.00014415312034543604,
                        "pitch": 0.3738093972206116,
                        "yaw": 179.64356994628906
                    }
                },
                "velocity": {
                    "x": -9.462989807128906,
                    "y": 0.05608268082141876,
                    "z": 0.05546599254012108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.417693138122559,
                "transform": {
                    "location": {
                        "x": 672.1856079101562,
                        "y": 4290.294921875,
                        "z": 369.8769836425781
                    },
                    "rotation": {
                        "roll": 6.212646985659376e-05,
                        "pitch": 0.356815904378891,
                        "yaw": 179.66082763671875
                    }
                },
                "velocity": {
                    "x": -10.417353630065918,
                    "y": 0.06157531589269638,
                    "z": 0.057266365736722946
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.276899337768555,
                "transform": {
                    "location": {
                        "x": 652.873291015625,
                        "y": 4290.408203125,
                        "z": 369.9402770996094
                    },
                    "rotation": {
                        "roll": -0.00012207026884425431,
                        "pitch": 0.3244066536426544,
                        "yaw": 179.6663818359375
                    }
                },
                "velocity": {
                    "x": -11.276551246643066,
                    "y": 0.06565536558628082,
                    "z": 0.05951017141342163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9992148876190186,
        "expert_target_speed": 0,
        "target_point": [
            51.66421233238021,
            3.4207475975705264
        ],
        "target_point_next": [
            57.662281312211064,
            3.5723200784174165
        ]
    },
    "165": {
        "acceleration": [
            -1.0399246215820312,
            -0.9020096063613892,
            -0.008358359336853027
        ],
        "angular_velocity": [
            0.03019782528281212,
            0.17119000852108002,
            2.3967514038085938
        ],
        "forward_vector": [
            -0.9998570680618286,
            0.01562108937650919,
            0.006465270183980465
        ],
        "right_vector": [
            -0.0155799500644207,
            -0.9998583793640137,
            0.006365309935063124
        ],
        "location": [
            626.0687866210938,
            4289.63720703125,
            370.0816955566406
        ],
        "rotation": [
            -0.36471548676490784,
            0.37043529748916626,
            179.10491943359375
        ],
        "velocity": [
            -20.98488426208496,
            0.4254789650440216,
            0.10338151454925537
        ],
        "speed": 20.9891972176831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.274012565612793,
                "transform": {
                    "location": {
                        "x": 594.4116821289062,
                        "y": 4297.4345703125,
                        "z": 370.24139404296875
                    },
                    "rotation": {
                        "roll": 0.013434658758342266,
                        "pitch": -0.26116591691970825,
                        "yaw": -0.0749511644244194
                    }
                },
                "velocity": {
                    "x": 8.273897171020508,
                    "y": -0.01716437377035618,
                    "z": -0.040219809859991074
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.223155975341797,
                "transform": {
                    "location": {
                        "x": 594.0747680664062,
                        "y": 4294.18505859375,
                        "z": 370.2333984375
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.24731430411338806,
                        "yaw": -0.0686950609087944
                    }
                },
                "velocity": {
                    "x": 8.223048210144043,
                    "y": -0.018139369785785675,
                    "z": -0.03799249604344368
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.953360080718994,
                "transform": {
                    "location": {
                        "x": 634.5616455078125,
                        "y": 4297.21435546875,
                        "z": 370.03271484375
                    },
                    "rotation": {
                        "roll": 0.00010053148434963077,
                        "pitch": -0.2982538640499115,
                        "yaw": -0.2987060248851776
                    }
                },
                "velocity": {
                    "x": 7.953133583068848,
                    "y": -0.04362685978412628,
                    "z": -0.041246362030506134
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.085577964782715,
                "transform": {
                    "location": {
                        "x": 634.9835815429688,
                        "y": 4293.9619140625,
                        "z": 370.036865234375
                    },
                    "rotation": {
                        "roll": 0.002931862836703658,
                        "pitch": -0.25482749938964844,
                        "yaw": -0.299407958984375
                    }
                },
                "velocity": {
                    "x": 8.085349082946777,
                    "y": -0.04455479979515076,
                    "z": -0.0413171723484993
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052054405212402,
                "transform": {
                    "location": {
                        "x": 676.020751953125,
                        "y": 4296.9716796875,
                        "z": 369.82122802734375
                    },
                    "rotation": {
                        "roll": 0.0007069337880238891,
                        "pitch": -0.31780868768692017,
                        "yaw": -0.34075927734375
                    }
                },
                "velocity": {
                    "x": 8.051789283752441,
                    "y": -0.04754764586687088,
                    "z": -0.04476691782474518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03016185760498,
                "transform": {
                    "location": {
                        "x": 676.0081176757812,
                        "y": 4293.7216796875,
                        "z": 369.82281494140625
                    },
                    "rotation": {
                        "roll": 0.0003359861148055643,
                        "pitch": -0.32092323899269104,
                        "yaw": -0.3382568359375
                    }
                },
                "velocity": {
                    "x": 8.029895782470703,
                    "y": -0.047422390431165695,
                    "z": -0.044944293797016144
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.031208992004395,
                "transform": {
                    "location": {
                        "x": 683.36865234375,
                        "y": 4286.9765625,
                        "z": 369.7760314941406
                    },
                    "rotation": {
                        "roll": -3.05175271932967e-05,
                        "pitch": 0.2872094511985779,
                        "yaw": 179.66017150878906
                    }
                },
                "velocity": {
                    "x": -13.03077507019043,
                    "y": 0.07710249722003937,
                    "z": 0.07322467863559723
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.069847106933594,
                "transform": {
                    "location": {
                        "x": 660.9935302734375,
                        "y": 4287.1103515625,
                        "z": 369.9114685058594
                    },
                    "rotation": {
                        "roll": 0.00023583653091918677,
                        "pitch": -0.08929789066314697,
                        "yaw": 179.66567993164062
                    }
                },
                "velocity": {
                    "x": -12.069464683532715,
                    "y": 0.07075762748718262,
                    "z": 0.06486594676971436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.089961051940918,
                "transform": {
                    "location": {
                        "x": 611.5855102539062,
                        "y": 4287.41943359375,
                        "z": 370.1507873535156
                    },
                    "rotation": {
                        "roll": 0.009828716516494751,
                        "pitch": 0.6347157955169678,
                        "yaw": 179.84091186523438
                    }
                },
                "velocity": {
                    "x": -8.089828491210938,
                    "y": 0.02276843972504139,
                    "z": 0.04024636000394821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.843998908996582,
                "transform": {
                    "location": {
                        "x": 594.107666015625,
                        "y": 4287.52099609375,
                        "z": 370.27252197265625
                    },
                    "rotation": {
                        "roll": 0.00602929200977087,
                        "pitch": 0.2455999255180359,
                        "yaw": 179.85748291015625
                    }
                },
                "velocity": {
                    "x": -7.843866348266602,
                    "y": 0.02680758200585842,
                    "z": 0.03695790097117424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 706.6400146484375,
                        "y": 4290.18994140625,
                        "z": 369.6480407714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.33312880992889404,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.957490921020508,
                "transform": {
                    "location": {
                        "x": 689.8880615234375,
                        "y": 4290.189453125,
                        "z": 369.7481994628906
                    },
                    "rotation": {
                        "roll": 0.00045552835217677057,
                        "pitch": 0.2927282452583313,
                        "yaw": 179.67572021484375
                    }
                },
                "velocity": {
                    "x": -9.957155227661133,
                    "y": 0.05881361663341522,
                    "z": 0.05683482810854912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.631471633911133,
                "transform": {
                    "location": {
                        "x": 669.4498291015625,
                        "y": 4290.31103515625,
                        "z": 369.8912048339844
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.43129226565361023,
                        "yaw": 179.66012573242188
                    }
                },
                "velocity": {
                    "x": -11.631091117858887,
                    "y": 0.06893134117126465,
                    "z": 0.0638965591788292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.921710014343262,
                "transform": {
                    "location": {
                        "x": 649.97021484375,
                        "y": 4290.42529296875,
                        "z": 369.9557189941406
                    },
                    "rotation": {
                        "roll": 0.00029995504883117974,
                        "pitch": 0.32552680373191833,
                        "yaw": 179.6706085205078
                    }
                },
                "velocity": {
                    "x": -11.921348571777344,
                    "y": 0.06893639266490936,
                    "z": 0.062280118465423584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0004006624221802,
        "expert_target_speed": 0,
        "target_point": [
            46.49377344623193,
            2.672406781665984
        ],
        "target_point_next": [
            52.49347610158778,
            2.7304907818312447
        ]
    },
    "170": {
        "acceleration": [
            -0.7874298095703125,
            0.7794111967086792,
            -0.011381804943084717
        ],
        "angular_velocity": [
            1.503522276878357,
            -0.04145781323313713,
            -4.055879592895508
        ],
        "forward_vector": [
            -0.9998043179512024,
            0.018527107313275337,
            0.006933156400918961
        ],
        "right_vector": [
            -0.01850920543074608,
            -0.9998252391815186,
            0.0026375283487141132
        ],
        "location": [
            620.7903442382812,
            4289.7373046875,
            370.1076354980469
        ],
        "rotation": [
            -0.151123046875,
            0.39724376797676086,
            178.93838500976562
        ],
        "velocity": [
            -21.220327377319336,
            0.43854963779449463,
            0.10326078534126282
        ],
        "speed": 21.224858533931815,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053621292114258,
                "transform": {
                    "location": {
                        "x": 596.4513549804688,
                        "y": 4297.4296875,
                        "z": 370.23193359375
                    },
                    "rotation": {
                        "roll": 0.004543413873761892,
                        "pitch": -0.2640073001384735,
                        "yaw": -0.1632384955883026
                    }
                },
                "velocity": {
                    "x": 8.053505897521973,
                    "y": -0.02392611838877201,
                    "z": -0.03586569055914879
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.183137893676758,
                "transform": {
                    "location": {
                        "x": 596.1577758789062,
                        "y": 4294.1796875,
                        "z": 370.22393798828125
                    },
                    "rotation": {
                        "roll": 0.00021096722048241645,
                        "pitch": -0.25714296102523804,
                        "yaw": -0.1548767387866974
                    }
                },
                "velocity": {
                    "x": 8.183018684387207,
                    "y": -0.02378746308386326,
                    "z": -0.03722020983695984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.114245414733887,
                "transform": {
                    "location": {
                        "x": 636.5717163085938,
                        "y": 4297.203125,
                        "z": 370.02239990234375
                    },
                    "rotation": {
                        "roll": 0.00118428491987288,
                        "pitch": -0.28787195682525635,
                        "yaw": -0.3124999701976776
                    }
                },
                "velocity": {
                    "x": 8.114015579223633,
                    "y": -0.04593601077795029,
                    "z": -0.04010846093297005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.08623218536377,
                "transform": {
                    "location": {
                        "x": 637.0197143554688,
                        "y": 4293.94970703125,
                        "z": 370.02655029296875
                    },
                    "rotation": {
                        "roll": 0.0016344544710591435,
                        "pitch": -0.2599501609802246,
                        "yaw": -0.3328246772289276
                    }
                },
                "velocity": {
                    "x": 8.08599853515625,
                    "y": -0.046206098049879074,
                    "z": -0.040609050542116165
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0553560256958,
                "transform": {
                    "location": {
                        "x": 678.0343627929688,
                        "y": 4296.9599609375,
                        "z": 369.80999755859375
                    },
                    "rotation": {
                        "roll": 0.0005519420956261456,
                        "pitch": -0.3202538788318634,
                        "yaw": -0.3375549018383026
                    }
                },
                "velocity": {
                    "x": 8.05508804321289,
                    "y": -0.04778677970170975,
                    "z": -0.04502873495221138
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051495552062988,
                "transform": {
                    "location": {
                        "x": 678.0185546875,
                        "y": 4293.7099609375,
                        "z": 369.8116760253906
                    },
                    "rotation": {
                        "roll": 0.0007350430823862553,
                        "pitch": -0.3190859258174896,
                        "yaw": -0.338287353515625
                    }
                },
                "velocity": {
                    "x": 8.051234245300293,
                    "y": -0.04758884757757187,
                    "z": -0.044111426919698715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.474249839782715,
                "transform": {
                    "location": {
                        "x": 680.3170166015625,
                        "y": 4286.9951171875,
                        "z": 369.7930908203125
                    },
                    "rotation": {
                        "roll": -6.1035087128402665e-05,
                        "pitch": 0.28381484746932983,
                        "yaw": 179.66030883789062
                    }
                },
                "velocity": {
                    "x": -11.473868370056152,
                    "y": 0.06802515685558319,
                    "z": 0.06419427692890167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.596768379211426,
                "transform": {
                    "location": {
                        "x": 658.1689453125,
                        "y": 4287.126953125,
                        "z": 369.92608642578125
                    },
                    "rotation": {
                        "roll": 0.0002843329857569188,
                        "pitch": -0.02099600061774254,
                        "yaw": 179.6458740234375
                    }
                },
                "velocity": {
                    "x": -10.596427917480469,
                    "y": 0.06320227682590485,
                    "z": 0.05665449798107147
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.405737400054932,
                "transform": {
                    "location": {
                        "x": 609.6683959960938,
                        "y": 4287.42529296875,
                        "z": 370.16156005859375
                    },
                    "rotation": {
                        "roll": 0.012535552494227886,
                        "pitch": 0.1976041942834854,
                        "yaw": 179.82948303222656
                    }
                },
                "velocity": {
                    "x": -7.405595302581787,
                    "y": 0.027746587991714478,
                    "z": 0.03654973953962326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.187373161315918,
                "transform": {
                    "location": {
                        "x": 592.0911865234375,
                        "y": 4287.52783203125,
                        "z": 370.28131103515625
                    },
                    "rotation": {
                        "roll": 0.0013891271082684398,
                        "pitch": 0.2836577296257019,
                        "yaw": 179.7758331298828
                    }
                },
                "velocity": {
                    "x": -8.187227249145508,
                    "y": 0.03223278000950813,
                    "z": 0.036784734576940536
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 704.071533203125,
                        "y": 4290.205078125,
                        "z": 369.6629638671875
                    },
                    "rotation": {
                        "roll": 1.0422215868111095e-10,
                        "pitch": 0.3315100371837616,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.7606840133667,
                "transform": {
                    "location": {
                        "x": 687.2958374023438,
                        "y": 4290.20458984375,
                        "z": 369.7631530761719
                    },
                    "rotation": {
                        "roll": 0.000568252697121352,
                        "pitch": 0.24724599719047546,
                        "yaw": 179.6494903564453
                    }
                },
                "velocity": {
                    "x": -10.760324478149414,
                    "y": 0.06368458271026611,
                    "z": 0.06065220758318901
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.844747543334961,
                "transform": {
                    "location": {
                        "x": 666.5011596679688,
                        "y": 4290.3291015625,
                        "z": 369.9079284667969
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.3651009202003479,
                        "yaw": 179.66482543945312
                    }
                },
                "velocity": {
                    "x": -11.844372749328613,
                    "y": 0.06936229765415192,
                    "z": 0.06373120844364166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.539179801940918,
                "transform": {
                    "location": {
                        "x": 646.9098510742188,
                        "y": 4290.443359375,
                        "z": 369.97198486328125
                    },
                    "rotation": {
                        "roll": 0.0006636637845076621,
                        "pitch": 0.3254994750022888,
                        "yaw": 179.6704864501953
                    }
                },
                "velocity": {
                    "x": -12.538802146911621,
                    "y": 0.0721820667386055,
                    "z": 0.06538953632116318
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9995715618133545,
        "expert_target_speed": 0,
        "target_point": [
            41.206417979677,
            2.809828087335568
        ],
        "target_point_next": [
            47.205926449565894,
            2.885351749128644
        ]
    },
    "175": {
        "acceleration": [
            -0.3031158447265625,
            1.6602253913879395,
            -0.0034137070178985596
        ],
        "angular_velocity": [
            1.3405733108520508,
            -0.1584010273218155,
            -6.196170330047607
        ],
        "forward_vector": [
            -0.9990002512931824,
            0.044237904250621796,
            0.00643904460594058
        ],
        "right_vector": [
            -0.04426705092191696,
            -0.9990097880363464,
            -0.004456579219549894
        ],
        "location": [
            615.4688720703125,
            4289.89013671875,
            370.1333923339844
        ],
        "rotation": [
            0.255349338054657,
            0.3689326345920563,
            177.4644775390625
        ],
        "velocity": [
            -21.33216667175293,
            0.8126208782196045,
            0.10302772372961044
        ],
        "speed": 21.347638923383656,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.278085708618164,
                "transform": {
                    "location": {
                        "x": 598.4939575195312,
                        "y": 4297.4228515625,
                        "z": 370.2226867675781
                    },
                    "rotation": {
                        "roll": 0.0054219006560742855,
                        "pitch": -0.26492252945899963,
                        "yaw": -0.23275752365589142
                    }
                },
                "velocity": {
                    "x": 8.277918815612793,
                    "y": -0.03620130196213722,
                    "z": -0.03794484585523605
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.908308506011963,
                "transform": {
                    "location": {
                        "x": 598.1534423828125,
                        "y": 4294.17333984375,
                        "z": 370.2148742675781
                    },
                    "rotation": {
                        "roll": 0.0015907797496765852,
                        "pitch": -0.2724357545375824,
                        "yaw": -0.2098694145679474
                    }
                },
                "velocity": {
                    "x": 7.908152103424072,
                    "y": -0.03299163281917572,
                    "z": -0.037196092307567596
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01716136932373,
                "transform": {
                    "location": {
                        "x": 638.589599609375,
                        "y": 4297.19189453125,
                        "z": 370.01202392578125
                    },
                    "rotation": {
                        "roll": 0.0007533376337960362,
                        "pitch": -0.29977014660835266,
                        "yaw": -0.31964111328125
                    }
                },
                "velocity": {
                    "x": 8.016926765441895,
                    "y": -0.04484066367149353,
                    "z": -0.04173167794942856
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.947261810302734,
                "transform": {
                    "location": {
                        "x": 639.0146484375,
                        "y": 4293.9384765625,
                        "z": 370.0164794921875
                    },
                    "rotation": {
                        "roll": -9.155274892691523e-05,
                        "pitch": -0.3366668224334717,
                        "yaw": -0.3047485053539276
                    }
                },
                "velocity": {
                    "x": 7.947032451629639,
                    "y": -0.04412001371383667,
                    "z": -0.04125640168786049
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052017211914062,
                "transform": {
                    "location": {
                        "x": 680.0477294921875,
                        "y": 4296.9482421875,
                        "z": 369.79876708984375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.3223575949668884,
                        "yaw": -0.337371826171875
                    }
                },
                "velocity": {
                    "x": 8.051751136779785,
                    "y": -0.04713166132569313,
                    "z": -0.04543561488389969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04164981842041,
                "transform": {
                    "location": {
                        "x": 680.0304565429688,
                        "y": 4293.6982421875,
                        "z": 369.8004455566406
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.3223029375076294,
                        "yaw": -0.3381347954273224
                    }
                },
                "velocity": {
                    "x": 8.0413818359375,
                    "y": -0.047502268105745316,
                    "z": -0.04539451375603676
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.024491310119629,
                "transform": {
                    "location": {
                        "x": 677.6372680664062,
                        "y": 4287.0107421875,
                        "z": 369.8080139160156
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.2861097753047943,
                        "yaw": 179.65721130371094
                    }
                },
                "velocity": {
                    "x": -10.024158477783203,
                    "y": 0.06014816462993622,
                    "z": 0.05534674599766731
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.828019142150879,
                "transform": {
                    "location": {
                        "x": 655.7315673828125,
                        "y": 4287.14111328125,
                        "z": 369.939208984375
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.039765357971191406,
                        "yaw": 179.64010620117188
                    }
                },
                "velocity": {
                    "x": -8.827733993530273,
                    "y": 0.0531172975897789,
                    "z": 0.047155704349279404
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.840153217315674,
                "transform": {
                    "location": {
                        "x": 607.7799682617188,
                        "y": 4287.43310546875,
                        "z": 370.17010498046875
                    },
                    "rotation": {
                        "roll": 0.009572958573698997,
                        "pitch": 0.33173543214797974,
                        "yaw": 179.75331115722656
                    }
                },
                "velocity": {
                    "x": -7.8399882316589355,
                    "y": 0.03478900343179703,
                    "z": 0.03717079013586044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.958434104919434,
                "transform": {
                    "location": {
                        "x": 590.0712890625,
                        "y": 4287.53662109375,
                        "z": 370.29058837890625
                    },
                    "rotation": {
                        "roll": 0.004349148832261562,
                        "pitch": 0.24090075492858887,
                        "yaw": 179.77349853515625
                    }
                },
                "velocity": {
                    "x": -7.958262920379639,
                    "y": 0.03753659129142761,
                    "z": 0.03629883751273155
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 701.2999877929688,
                        "y": 4290.22216796875,
                        "z": 369.6790466308594
                    },
                    "rotation": {
                        "roll": 1.0422215868111095e-10,
                        "pitch": 0.3315100371837616,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.545111656188965,
                "transform": {
                    "location": {
                        "x": 684.5006103515625,
                        "y": 4290.2216796875,
                        "z": 369.7789611816406
                    },
                    "rotation": {
                        "roll": 6.22843363089487e-05,
                        "pitch": 0.24145400524139404,
                        "yaw": 179.6631622314453
                    }
                },
                "velocity": {
                    "x": -11.544720649719238,
                    "y": 0.06967423856258392,
                    "z": 0.06468748301267624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.294991493225098,
                "transform": {
                    "location": {
                        "x": 663.4965209960938,
                        "y": 4290.3466796875,
                        "z": 369.9242858886719
                    },
                    "rotation": {
                        "roll": -0.00012207035615574569,
                        "pitch": 0.360429048538208,
                        "yaw": 179.66517639160156
                    }
                },
                "velocity": {
                    "x": -12.294611930847168,
                    "y": 0.0718698799610138,
                    "z": 0.06443784385919571
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.174208641052246,
                "transform": {
                    "location": {
                        "x": 643.6921997070312,
                        "y": 4290.4619140625,
                        "z": 369.9888610839844
                    },
                    "rotation": {
                        "roll": 0.002013052813708782,
                        "pitch": 0.32051342725753784,
                        "yaw": 179.66566467285156
                    }
                },
                "velocity": {
                    "x": -13.173809051513672,
                    "y": 0.07650876045227051,
                    "z": 0.0683896616101265
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0004431009292603,
        "expert_target_speed": 0,
        "target_point": [
            35.79748794902266,
            3.7860612665107105
        ],
        "target_point_next": [
            41.79306886759444,
            4.01587674165778
        ]
    },
    "180": {
        "acceleration": [
            -0.372467041015625,
            -0.44954657554626465,
            0.01005515456199646
        ],
        "angular_velocity": [
            -1.1884185075759888,
            -0.024887336418032646,
            4.5652313232421875
        ],
        "forward_vector": [
            -0.9990170001983643,
            0.04391813650727272,
            0.006015264429152012
        ],
        "right_vector": [
            -0.04393511638045311,
            -0.9990307092666626,
            -0.002719928277656436
        ],
        "location": [
            610.1254272460938,
            4290.10693359375,
            370.1589660644531
        ],
        "rotation": [
            0.15584342181682587,
            0.34465134143829346,
            177.48281860351562
        ],
        "velocity": [
            -21.416635513305664,
            0.8583998084068298,
            0.10328229516744614
        ],
        "speed": 21.43383136401092,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.058624267578125,
                "transform": {
                    "location": {
                        "x": 600.5349731445312,
                        "y": 4297.41357421875,
                        "z": 370.21319580078125
                    },
                    "rotation": {
                        "roll": 0.0008305029477924109,
                        "pitch": -0.2721557021141052,
                        "yaw": -0.272308349609375
                    }
                },
                "velocity": {
                    "x": 8.058448791503906,
                    "y": -0.03787216171622276,
                    "z": -0.0372338704764843
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.15795612335205,
                "transform": {
                    "location": {
                        "x": 600.1630859375,
                        "y": 4294.16455078125,
                        "z": 370.2054138183594
                    },
                    "rotation": {
                        "roll": 0.00010357720748288557,
                        "pitch": -0.26263442635536194,
                        "yaw": -0.2588501274585724
                    }
                },
                "velocity": {
                    "x": 8.157783508300781,
                    "y": -0.03851990029215813,
                    "z": -0.03663846105337143
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068979263305664,
                "transform": {
                    "location": {
                        "x": 640.5979614257812,
                        "y": 4297.1796875,
                        "z": 370.0015563964844
                    },
                    "rotation": {
                        "roll": 0.00029739123419858515,
                        "pitch": -0.3010883927345276,
                        "yaw": -0.3256530165672302
                    }
                },
                "velocity": {
                    "x": 8.068745613098145,
                    "y": -0.04582890495657921,
                    "z": -0.04089008644223213
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.082148551940918,
                "transform": {
                    "location": {
                        "x": 641.020263671875,
                        "y": 4293.9267578125,
                        "z": 370.0057678222656
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -0.28182724118232727,
                        "yaw": -0.3276976943016052
                    }
                },
                "velocity": {
                    "x": 8.081921577453613,
                    "y": -0.04429071024060249,
                    "z": -0.041297655552625656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 682.074462890625,
                        "y": 4296.9267578125,
                        "z": 369.78753662109375
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 682.0550537109375,
                        "y": 4293.6767578125,
                        "z": 369.7890930175781
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.7046537399292,
                "transform": {
                    "location": {
                        "x": 675.3052368164062,
                        "y": 4287.02490234375,
                        "z": 369.8208923339844
                    },
                    "rotation": {
                        "roll": 0.0015003022272139788,
                        "pitch": 0.2844159007072449,
                        "yaw": 179.6320343017578
                    }
                },
                "velocity": {
                    "x": -8.704331398010254,
                    "y": 0.056952398270368576,
                    "z": 0.04870210587978363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4850590229034424,
                "transform": {
                    "location": {
                        "x": 654.3455200195312,
                        "y": 4287.140625,
                        "z": 369.9537658691406
                    },
                    "rotation": {
                        "roll": -0.009399414993822575,
                        "pitch": -0.9406740665435791,
                        "yaw": 178.84632873535156
                    }
                },
                "velocity": {
                    "x": -2.4850077629089355,
                    "y": -0.011695943772792816,
                    "z": 0.010875806212425232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.712903022766113,
                "transform": {
                    "location": {
                        "x": 605.8106689453125,
                        "y": 4287.44140625,
                        "z": 370.179443359375
                    },
                    "rotation": {
                        "roll": 0.004861562047153711,
                        "pitch": 0.2994491457939148,
                        "yaw": 179.7613983154297
                    }
                },
                "velocity": {
                    "x": -7.712738513946533,
                    "y": 0.03423666954040527,
                    "z": 0.03695195913314819
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013141632080078,
                "transform": {
                    "location": {
                        "x": 588.0833129882812,
                        "y": 4287.5458984375,
                        "z": 370.2992858886719
                    },
                    "rotation": {
                        "roll": 0.0009660916985012591,
                        "pitch": 0.2533726692199707,
                        "yaw": 179.71446228027344
                    }
                },
                "velocity": {
                    "x": -8.012958526611328,
                    "y": 0.04076771065592766,
                    "z": 0.035544078797101974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 698.318115234375,
                        "y": 4290.23974609375,
                        "z": 369.6961975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.328702837228775,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 681.4599609375,
                        "y": 4290.32177734375,
                        "z": 369.7926330566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3202880322933197,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.030254364013672,
                "transform": {
                    "location": {
                        "x": 660.3232421875,
                        "y": 4290.36474609375,
                        "z": 369.9412536621094
                    },
                    "rotation": {
                        "roll": 0.00023062566469889134,
                        "pitch": 0.38393858075141907,
                        "yaw": 179.6648712158203
                    }
                },
                "velocity": {
                    "x": -13.029848098754883,
                    "y": 0.07609731703996658,
                    "z": 0.06914561986923218
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.795228958129883,
                "transform": {
                    "location": {
                        "x": 640.3182373046875,
                        "y": 4290.48193359375,
                        "z": 370.00634765625
                    },
                    "rotation": {
                        "roll": 0.0011892651673406363,
                        "pitch": 0.32088908553123474,
                        "yaw": 179.6623992919922
                    }
                },
                "velocity": {
                    "x": -13.794805526733398,
                    "y": 0.08070968091487885,
                    "z": 0.07189275324344635
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9994789361953735,
        "expert_target_speed": 0,
        "target_point": [
            30.450887081494596,
            3.756517545368676
        ],
        "target_point_next": [
            36.44654122441094,
            3.9844146763053834
        ]
    },
    "185": {
        "acceleration": [
            -0.4010772705078125,
            -1.6295981407165527,
            -0.00023990869522094727
        ],
        "angular_velocity": [
            -1.4231599569320679,
            0.023343168199062347,
            5.858185291290283
        ],
        "forward_vector": [
            -0.9998248219490051,
            0.01777682825922966,
            0.00586291728541255
        ],
        "right_vector": [
            -0.017753172665834427,
            -0.9998341798782349,
            0.004062304273247719
        ],
        "location": [
            604.7583618164062,
            4290.28369140625,
            370.1844177246094
        ],
        "rotation": [
            -0.23275752365589142,
            0.33592233061790466,
            178.9813995361328
        ],
        "velocity": [
            -21.516979217529297,
            0.5188754200935364,
            0.10312602669000626
        ],
        "speed": 21.5232345698588,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.2835693359375,
                "transform": {
                    "location": {
                        "x": 602.5787353515625,
                        "y": 4297.40380859375,
                        "z": 370.2035827636719
                    },
                    "rotation": {
                        "roll": 0.0018659362103790045,
                        "pitch": -0.26818737387657166,
                        "yaw": -0.2910461127758026
                    }
                },
                "velocity": {
                    "x": 8.283364295959473,
                    "y": -0.044023994356393814,
                    "z": -0.03820645809173584
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069208145141602,
                "transform": {
                    "location": {
                        "x": 602.1975708007812,
                        "y": 4294.15478515625,
                        "z": 370.1959228515625
                    },
                    "rotation": {
                        "roll": 0.0006109344540163875,
                        "pitch": -0.26975148916244507,
                        "yaw": -0.2880248427391052
                    }
                },
                "velocity": {
                    "x": 8.069012641906738,
                    "y": -0.042040128260850906,
                    "z": -0.037267062813043594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03525161743164,
                "transform": {
                    "location": {
                        "x": 642.6118774414062,
                        "y": 4297.16845703125,
                        "z": 369.9909973144531
                    },
                    "rotation": {
                        "roll": 0.00025690507027320564,
                        "pitch": -0.2990666329860687,
                        "yaw": -0.3255309760570526
                    }
                },
                "velocity": {
                    "x": 8.035017967224121,
                    "y": -0.045711126178503036,
                    "z": -0.040795035660266876
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021587371826172,
                "transform": {
                    "location": {
                        "x": 643.0357055664062,
                        "y": 4293.9150390625,
                        "z": 369.9953308105469
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.305391401052475,
                        "yaw": -0.3092955946922302
                    }
                },
                "velocity": {
                    "x": 8.021350860595703,
                    "y": -0.045345552265644073,
                    "z": -0.041646864265203476
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3814,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 684.1568603515625,
                        "y": 4296.8681640625,
                        "z": 369.7763977050781
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3813,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 684.1375122070312,
                        "y": 4293.6181640625,
                        "z": 369.7771911621094
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.33220100402832,
                "transform": {
                    "location": {
                        "x": 673.3004760742188,
                        "y": 4287.0380859375,
                        "z": 369.8319396972656
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.28548821806907654,
                        "yaw": 179.60133361816406
                    }
                },
                "velocity": {
                    "x": -7.331923007965088,
                    "y": 0.04962151497602463,
                    "z": 0.04016202688217163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.40744277834892273,
                "transform": {
                    "location": {
                        "x": 654.210693359375,
                        "y": 4287.13916015625,
                        "z": 369.9518737792969
                    },
                    "rotation": {
                        "roll": 0.04076601564884186,
                        "pitch": -0.638950526714325,
                        "yaw": 178.74917602539062
                    }
                },
                "velocity": {
                    "x": -0.40741994976997375,
                    "y": 0.0036609023809432983,
                    "z": 0.0022824478801339865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.81257963180542,
                "transform": {
                    "location": {
                        "x": 603.898681640625,
                        "y": 4287.451171875,
                        "z": 370.1885986328125
                    },
                    "rotation": {
                        "roll": 0.005309810396283865,
                        "pitch": 0.2810349464416504,
                        "yaw": 179.7042999267578
                    }
                },
                "velocity": {
                    "x": -7.812385559082031,
                    "y": 0.040579117834568024,
                    "z": 0.03727826103568077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071910858154297,
                "transform": {
                    "location": {
                        "x": 586.065673828125,
                        "y": 4287.5556640625,
                        "z": 370.30804443359375
                    },
                    "rotation": {
                        "roll": 0.0015889870701357722,
                        "pitch": 0.25522366166114807,
                        "yaw": 179.72357177734375
                    }
                },
                "velocity": {
                    "x": -8.071737289428711,
                    "y": 0.040768690407276154,
                    "z": 0.03360417112708092
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 695.0340576171875,
                        "y": 4290.2587890625,
                        "z": 369.7150573730469
                    },
                    "rotation": {
                        "roll": -1.0422210316995972e-10,
                        "pitch": 0.32589563727378845,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 678.145751953125,
                        "y": 4290.3515625,
                        "z": 369.81060791015625
                    },
                    "rotation": {
                        "roll": -1.0422201296433897e-10,
                        "pitch": 0.31748083233833313,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.581588745117188,
                "transform": {
                    "location": {
                        "x": 656.9925537109375,
                        "y": 4290.384765625,
                        "z": 369.95916748046875
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.37324249744415283,
                        "yaw": 179.66897583007812
                    }
                },
                "velocity": {
                    "x": -13.581169128417969,
                    "y": 0.07846579700708389,
                    "z": 0.07251140475273132
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.417402267456055,
                "transform": {
                    "location": {
                        "x": 636.7886352539062,
                        "y": 4290.50244140625,
                        "z": 370.0248107910156
                    },
                    "rotation": {
                        "roll": 0.0006478510331362486,
                        "pitch": 0.31682515144348145,
                        "yaw": 179.6576690673828
                    }
                },
                "velocity": {
                    "x": -14.416963577270508,
                    "y": 0.0856608971953392,
                    "z": 0.07284734398126602
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0013247728347778,
        "expert_target_speed": 0,
        "target_point": [
            25.16935316301426,
            3.0402004485996
        ],
        "target_point_next": [
            31.168916626754417,
            3.1112212083354773
        ]
    },
    "190": {
        "acceleration": [
            -0.31963348388671875,
            -1.5141922235488892,
            -0.004048198461532593
        ],
        "angular_velocity": [
            -0.4144834578037262,
            -0.012600990012288094,
            3.364305257797241
        ],
        "forward_vector": [
            -0.9999832510948181,
            -0.0005048747407272458,
            0.005765286739915609
        ],
        "right_vector": [
            0.0005493417265824974,
            -0.9999701380729675,
            0.007713906932622194
        ],
        "location": [
            599.366943359375,
            4290.36474609375,
            370.2098388671875
        ],
        "rotation": [
            -0.4419860243797302,
            0.33032843470573425,
            -179.9710693359375
        ],
        "velocity": [
            -21.61055564880371,
            0.1299566775560379,
            0.10150720179080963
        ],
        "speed": 21.61094639732567,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063684463500977,
                "transform": {
                    "location": {
                        "x": 604.6210327148438,
                        "y": 4297.39208984375,
                        "z": 370.1940002441406
                    },
                    "rotation": {
                        "roll": 0.0009549747337587178,
                        "pitch": -0.27398619055747986,
                        "yaw": -0.3102721869945526
                    }
                },
                "velocity": {
                    "x": 8.063480377197266,
                    "y": -0.04361015185713768,
                    "z": -0.03724721819162369
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.016249656677246,
                "transform": {
                    "location": {
                        "x": 604.2005615234375,
                        "y": 4294.14501953125,
                        "z": 370.1865539550781
                    },
                    "rotation": {
                        "roll": 0.00041962499381043017,
                        "pitch": -0.2726747989654541,
                        "yaw": -0.3061523139476776
                    }
                },
                "velocity": {
                    "x": 8.016045570373535,
                    "y": -0.042928967624902725,
                    "z": -0.03776368871331215
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069823265075684,
                "transform": {
                    "location": {
                        "x": 644.625,
                        "y": 4297.15625,
                        "z": 369.9804992675781
                    },
                    "rotation": {
                        "roll": 0.00035395787563174963,
                        "pitch": -0.3005351424217224,
                        "yaw": -0.32565298676490784
                    }
                },
                "velocity": {
                    "x": 8.069583892822266,
                    "y": -0.045818787068128586,
                    "z": -0.04198727384209633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.013713836669922,
                "transform": {
                    "location": {
                        "x": 645.0364379882812,
                        "y": 4293.9033203125,
                        "z": 369.98492431640625
                    },
                    "rotation": {
                        "roll": 0.0008818796486593783,
                        "pitch": -0.3117913007736206,
                        "yaw": -0.34271240234375
                    }
                },
                "velocity": {
                    "x": 8.013469696044922,
                    "y": -0.047061968594789505,
                    "z": -0.04124750569462776
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 671.7835083007812,
                        "y": 4287.1044921875,
                        "z": 369.84332275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3146668076515198,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8565777540206909,
                "transform": {
                    "location": {
                        "x": 654.020263671875,
                        "y": 4287.1416015625,
                        "z": 369.9435119628906
                    },
                    "rotation": {
                        "roll": -0.007415770087391138,
                        "pitch": 0.5358624458312988,
                        "yaw": 178.8242950439453
                    }
                },
                "velocity": {
                    "x": -0.8565195798873901,
                    "y": 0.008136832155287266,
                    "z": 0.005781612358987331
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.111567497253418,
                "transform": {
                    "location": {
                        "x": 601.8701171875,
                        "y": 4287.4609375,
                        "z": 370.1977233886719
                    },
                    "rotation": {
                        "roll": 0.0035121557302773,
                        "pitch": 0.38818010687828064,
                        "yaw": 179.71800231933594
                    }
                },
                "velocity": {
                    "x": -8.111371994018555,
                    "y": 0.04202444106340408,
                    "z": 0.037455737590789795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.987979888916016,
                "transform": {
                    "location": {
                        "x": 584.0609130859375,
                        "y": 4287.56689453125,
                        "z": 370.3167419433594
                    },
                    "rotation": {
                        "roll": 0.0014467505970969796,
                        "pitch": 0.2406207174062729,
                        "yaw": 179.67465209960938
                    }
                },
                "velocity": {
                    "x": -7.987782955169678,
                    "y": 0.045154135674238205,
                    "z": 0.033322665840387344
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 691.6111450195312,
                        "y": 4290.279296875,
                        "z": 369.7346496582031
                    },
                    "rotation": {
                        "roll": -1.0422210316995972e-10,
                        "pitch": 0.32589563727378845,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 674.6951904296875,
                        "y": 4290.37744140625,
                        "z": 369.8295593261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3146668076515198,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.144407272338867,
                "transform": {
                    "location": {
                        "x": 653.525390625,
                        "y": 4290.40478515625,
                        "z": 369.9776916503906
                    },
                    "rotation": {
                        "roll": 0.001468102214857936,
                        "pitch": 0.3694585859775543,
                        "yaw": 179.665771484375
                    }
                },
                "velocity": {
                    "x": -14.143966674804688,
                    "y": 0.08244747668504715,
                    "z": 0.07531435042619705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 15.040632247924805,
                "transform": {
                    "location": {
                        "x": 633.1033935546875,
                        "y": 4290.5244140625,
                        "z": 370.04351806640625
                    },
                    "rotation": {
                        "roll": 8.519571565557271e-05,
                        "pitch": 0.3121737837791443,
                        "yaw": 179.6526641845703
                    }
                },
                "velocity": {
                    "x": -15.040165901184082,
                    "y": 0.09020648151636124,
                    "z": 0.0768573135137558
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0008443593978882,
        "expert_target_speed": 0,
        "target_point": [
            19.829350391259357,
            2.6633267093129485
        ],
        "target_point_next": [
            25.829209556077675,
            2.624652349527389
        ]
    },
    "195": {
        "acceleration": [
            1.5886688232421875,
            -0.26787474751472473,
            -0.019553005695343018
        ],
        "angular_velocity": [
            1.0113813877105713,
            -0.5274965167045593,
            0.15735258162021637
        ],
        "forward_vector": [
            -0.999930739402771,
            -0.010994505137205124,
            0.004205333534628153
        ],
        "right_vector": [
            0.011024042032659054,
            -0.999914288520813,
            0.007066310383379459
        ],
        "location": [
            593.985107421875,
            4290.35986328125,
            370.2348327636719
        ],
        "rotation": [
            -0.404876708984375,
            0.24094857275485992,
            -179.3700408935547
        ],
        "velocity": [
            -21.376056671142578,
            -0.11853978037834167,
            0.0970834344625473
        ],
        "speed": 21.376385346625636,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.288778305053711,
                "transform": {
                    "location": {
                        "x": 606.6663818359375,
                        "y": 4297.38037109375,
                        "z": 370.184326171875
                    },
                    "rotation": {
                        "roll": 0.0004044713277835399,
                        "pitch": -0.27078282833099365,
                        "yaw": -0.321380615234375
                    }
                },
                "velocity": {
                    "x": 8.288559913635254,
                    "y": -0.04629850387573242,
                    "z": -0.038428619503974915
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.122891426086426,
                "transform": {
                    "location": {
                        "x": 606.2222900390625,
                        "y": 4294.13330078125,
                        "z": 370.17694091796875
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": -0.2691367566585541,
                        "yaw": -0.3160400092601776
                    }
                },
                "velocity": {
                    "x": 8.122679710388184,
                    "y": -0.044968947768211365,
                    "z": -0.03755591809749603
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026249885559082,
                "transform": {
                    "location": {
                        "x": 646.6361083984375,
                        "y": 4297.14501953125,
                        "z": 369.9699401855469
                    },
                    "rotation": {
                        "roll": 0.0007716320687904954,
                        "pitch": -0.3019421696662903,
                        "yaw": -0.3314514458179474
                    }
                },
                "velocity": {
                    "x": 8.026006698608398,
                    "y": -0.04637351259589195,
                    "z": -0.04177858307957649
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.050312995910645,
                "transform": {
                    "location": {
                        "x": 647.0465087890625,
                        "y": 4293.8916015625,
                        "z": 369.9742126464844
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -0.2973317801952362,
                        "yaw": -0.3145751953125
                    }
                },
                "velocity": {
                    "x": 8.050079345703125,
                    "y": -0.045087575912475586,
                    "z": -0.04149264097213745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 670.7852172851562,
                        "y": 4287.1416015625,
                        "z": 369.8504333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3118595778942108,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7976971864700317,
                "transform": {
                    "location": {
                        "x": 653.8087768554688,
                        "y": 4287.1435546875,
                        "z": 369.9454650878906
                    },
                    "rotation": {
                        "roll": -0.0086669921875,
                        "pitch": 0.4396524131298065,
                        "yaw": 178.89874267578125
                    }
                },
                "velocity": {
                    "x": -0.7976529598236084,
                    "y": 0.006446129642426968,
                    "z": 0.0053853318095207214
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.490027904510498,
                "transform": {
                    "location": {
                        "x": 599.9292602539062,
                        "y": 4287.4716796875,
                        "z": 370.20758056640625
                    },
                    "rotation": {
                        "roll": 0.00414661131799221,
                        "pitch": 0.1422523409128189,
                        "yaw": 179.668701171875
                    }
                },
                "velocity": {
                    "x": -7.489818572998047,
                    "y": 0.04254133999347687,
                    "z": 0.03642150014638901
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04132080078125,
                "transform": {
                    "location": {
                        "x": 582.0581665039062,
                        "y": 4287.57861328125,
                        "z": 370.3251953125
                    },
                    "rotation": {
                        "roll": 7.295174873434007e-05,
                        "pitch": 0.24952729046344757,
                        "yaw": 179.6962432861328
                    }
                },
                "velocity": {
                    "x": -8.041132926940918,
                    "y": 0.04435274004936218,
                    "z": 0.03234701231122017
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 688.0450439453125,
                        "y": 4290.30029296875,
                        "z": 369.7548828125
                    },
                    "rotation": {
                        "roll": 2.0844415082876822e-10,
                        "pitch": 0.3230815827846527,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 671.0993041992188,
                        "y": 4290.400390625,
                        "z": 369.849365234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3146668076515198,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.742692947387695,
                "transform": {
                    "location": {
                        "x": 649.9116821289062,
                        "y": 4290.42626953125,
                        "z": 369.9969177246094
                    },
                    "rotation": {
                        "roll": 0.00044160085963085294,
                        "pitch": 0.37156227231025696,
                        "yaw": 179.6637725830078
                    }
                },
                "velocity": {
                    "x": -14.74223518371582,
                    "y": 0.08638383448123932,
                    "z": 0.07762916386127472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 15.662785530090332,
                "transform": {
                    "location": {
                        "x": 629.2622680664062,
                        "y": 4290.54736328125,
                        "z": 370.06298828125
                    },
                    "rotation": {
                        "roll": 0.00033765879925340414,
                        "pitch": 0.31201669573783875,
                        "yaw": 179.6516876220703
                    }
                },
                "velocity": {
                    "x": -15.662307739257812,
                    "y": 0.09423371404409409,
                    "z": 0.07816021144390106
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3697,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9992842674255371,
        "expert_target_speed": 2.2134639068743045,
        "target_point": [
            14.474632703225312,
            2.509464444959424
        ],
        "target_point_next": [
            20.473756077956953,
            2.4078552007559235
        ]
    },
    "200": {
        "acceleration": [
            0.29933929443359375,
            0.7632213830947876,
            -0.03023684024810791
        ],
        "angular_velocity": [
            1.3142728805541992,
            0.13985158503055573,
            -3.8751344680786133
        ],
        "forward_vector": [
            -0.9999964833259583,
            0.0004774633562192321,
            0.0025964942760765553
        ],
        "right_vector": [
            -0.00047370968968607485,
            -0.9999988079071045,
            0.0014460909878835082
        ],
        "location": [
            588.6948852539062,
            4290.33935546875,
            370.2587890625
        ],
        "rotation": [
            -0.0828552171587944,
            0.1487683355808258,
            179.97264099121094
        ],
        "velocity": [
            -21.03325080871582,
            -0.01632349006831646,
            0.09281810373067856
        ],
        "speed": 21.03325714288381,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.796030044555664,
                "transform": {
                    "location": {
                        "x": 608.3555908203125,
                        "y": 4297.37060546875,
                        "z": 370.1802978515625
                    },
                    "rotation": {
                        "roll": 0.0009372240165248513,
                        "pitch": -0.745084822177887,
                        "yaw": -0.3096923530101776
                    }
                },
                "velocity": {
                    "x": 5.795864105224609,
                    "y": -0.03307710215449333,
                    "z": -0.02874869294464588
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.029504776000977,
                "transform": {
                    "location": {
                        "x": 608.240478515625,
                        "y": 4294.12158203125,
                        "z": 370.1674499511719
                    },
                    "rotation": {
                        "roll": -0.0003662108210846782,
                        "pitch": -0.27169808745384216,
                        "yaw": -0.3211364448070526
                    }
                },
                "velocity": {
                    "x": 8.029294967651367,
                    "y": -0.04494292289018631,
                    "z": -0.03686678409576416
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077069282531738,
                "transform": {
                    "location": {
                        "x": 648.6497192382812,
                        "y": 4297.1328125,
                        "z": 369.95928955078125
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -0.3050498962402344,
                        "yaw": -0.3323058485984802
                    }
                },
                "velocity": {
                    "x": 8.076821327209473,
                    "y": -0.046810224652290344,
                    "z": -0.042485304176807404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018704414367676,
                "transform": {
                    "location": {
                        "x": 649.0548095703125,
                        "y": 4293.8798828125,
                        "z": 369.9637145996094
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.3128089904785156,
                        "yaw": -0.33932483196258545
                    }
                },
                "velocity": {
                    "x": 8.018465042114258,
                    "y": -0.04583420604467392,
                    "z": -0.04165373742580414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 669.9517211914062,
                        "y": 4287.1484375,
                        "z": 369.8550720214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3118595778942108,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4066928625106812,
                "transform": {
                    "location": {
                        "x": 653.5313720703125,
                        "y": 4287.14697265625,
                        "z": 369.9476623535156
                    },
                    "rotation": {
                        "roll": -0.006835936568677425,
                        "pitch": 0.36798325181007385,
                        "yaw": 179.00640869140625
                    }
                },
                "velocity": {
                    "x": -1.4066276550292969,
                    "y": 0.011956852860748768,
                    "z": 0.006371907889842987
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.797499179840088,
                "transform": {
                    "location": {
                        "x": 598.0382690429688,
                        "y": 4287.482421875,
                        "z": 370.2159729003906
                    },
                    "rotation": {
                        "roll": 0.0021414095535874367,
                        "pitch": 0.2765679955482483,
                        "yaw": 179.6859588623047
                    }
                },
                "velocity": {
                    "x": -7.797283172607422,
                    "y": 0.04481729492545128,
                    "z": 0.036785926669836044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030904769897461,
                "transform": {
                    "location": {
                        "x": 580.0470581054688,
                        "y": 4287.59033203125,
                        "z": 370.3337097167969
                    },
                    "rotation": {
                        "roll": 0.000570086354855448,
                        "pitch": 0.24081195890903473,
                        "yaw": 179.66940307617188
                    }
                },
                "velocity": {
                    "x": -8.030710220336914,
                    "y": 0.04468756169080734,
                    "z": 0.03344002738595009
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 684.3302001953125,
                        "y": 4290.322265625,
                        "z": 369.7757873535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3202880322933197,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 667.355712890625,
                        "y": 4290.42236328125,
                        "z": 369.8697814941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3118595778942108,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.293167114257812,
                "transform": {
                    "location": {
                        "x": 646.1517333984375,
                        "y": 4290.44775390625,
                        "z": 370.01678466796875
                    },
                    "rotation": {
                        "roll": 4.369342786958441e-05,
                        "pitch": 0.36699971556663513,
                        "yaw": 179.669189453125
                    }
                },
                "velocity": {
                    "x": -15.292702674865723,
                    "y": 0.08843749761581421,
                    "z": 0.07990209758281708
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 16.036540985107422,
                "transform": {
                    "location": {
                        "x": 625.2880859375,
                        "y": 4290.57080078125,
                        "z": 370.0828552246094
                    },
                    "rotation": {
                        "roll": 4.03408266720362e-05,
                        "pitch": 0.2975025475025177,
                        "yaw": 179.6520233154297
                    }
                },
                "velocity": {
                    "x": -16.036046981811523,
                    "y": 0.09706979244947433,
                    "z": 0.07997560501098633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0023306608200073,
        "expert_target_speed": 9.206432940912428,
        "target_point": [
            9.15467990968096,
            2.6523190683816043
        ],
        "target_point_next": [
            15.1545741691385,
            2.619538295241561
        ]
    },
    "205": {
        "acceleration": [
            0.6893157958984375,
            0.5393421649932861,
            0.003286004066467285
        ],
        "angular_velocity": [
            0.3195338249206543,
            0.22741329669952393,
            -1.276536226272583
        ],
        "forward_vector": [
            -0.9999125003814697,
            0.013196946121752262,
            0.000905871216673404
        ],
        "right_vector": [
            -0.013199093751609325,
            -0.9999099969863892,
            -0.0024074080865830183
        ],
        "location": [
            583.5245361328125,
            4290.3603515625,
            370.2814636230469
        ],
        "rotation": [
            0.13793450593948364,
            0.05190260335803032,
            179.2438507080078
        ],
        "velocity": [
            -20.441476821899414,
            0.17053835093975067,
            0.08783111721277237
        ],
        "speed": 20.442188189853656,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3844,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.381102085113525,
                "transform": {
                    "location": {
                        "x": 609.7321166992188,
                        "y": 4297.36328125,
                        "z": 370.17144775390625
                    },
                    "rotation": {
                        "roll": 0.00010329909127904102,
                        "pitch": -0.4873066544532776,
                        "yaw": -0.3422851264476776
                    }
                },
                "velocity": {
                    "x": 5.3809494972229,
                    "y": -0.03147163614630699,
                    "z": -0.025589102879166603
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087577819824219,
                "transform": {
                    "location": {
                        "x": 610.2537841796875,
                        "y": 4294.10986328125,
                        "z": 370.1578674316406
                    },
                    "rotation": {
                        "roll": -0.0004882813082076609,
                        "pitch": -0.2715478241443634,
                        "yaw": -0.3298339545726776
                    }
                },
                "velocity": {
                    "x": 8.087356567382812,
                    "y": -0.046828363090753555,
                    "z": -0.03740784525871277
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022342681884766,
                "transform": {
                    "location": {
                        "x": 650.66162109375,
                        "y": 4297.12158203125,
                        "z": 369.94866943359375
                    },
                    "rotation": {
                        "roll": -0.00018310555606149137,
                        "pitch": -0.30434638261795044,
                        "yaw": -0.32843017578125
                    }
                },
                "velocity": {
                    "x": 8.022107124328613,
                    "y": -0.0459982194006443,
                    "z": -0.04078209772706032
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3825,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031704902648926,
                "transform": {
                    "location": {
                        "x": 651.0601806640625,
                        "y": 4293.8681640625,
                        "z": 369.9530029296875
                    },
                    "rotation": {
                        "roll": 0.0004869505937676877,
                        "pitch": -0.3068530559539795,
                        "yaw": -0.31115713715553284
                    }
                },
                "velocity": {
                    "x": 8.03146743774414,
                    "y": -0.045599039644002914,
                    "z": -0.041574347764253616
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3709,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 667.8514404296875,
                        "y": 4287.166015625,
                        "z": 369.8668212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3118595778942108,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3708,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8243865966796875,
                "transform": {
                    "location": {
                        "x": 653.0076904296875,
                        "y": 4287.15185546875,
                        "z": 369.9486389160156
                    },
                    "rotation": {
                        "roll": -0.011383056640625,
                        "pitch": 0.5763518214225769,
                        "yaw": 179.1439971923828
                    }
                },
                "velocity": {
                    "x": -2.8242616653442383,
                    "y": 0.022392554208636284,
                    "z": 0.014281482435762882
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3707,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.819095611572266,
                "transform": {
                    "location": {
                        "x": 596.0626220703125,
                        "y": 4287.494140625,
                        "z": 370.22491455078125
                    },
                    "rotation": {
                        "roll": 0.0006450387299992144,
                        "pitch": 0.30639544129371643,
                        "yaw": 179.6610870361328
                    }
                },
                "velocity": {
                    "x": -7.818878173828125,
                    "y": 0.045476850122213364,
                    "z": 0.03649972751736641
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3706,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015028953552246,
                "transform": {
                    "location": {
                        "x": 578.0431518554688,
                        "y": 4287.60205078125,
                        "z": 370.3420715332031
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": 0.23657041788101196,
                        "yaw": 179.69314575195312
                    }
                },
                "velocity": {
                    "x": -8.01484203338623,
                    "y": 0.04344482347369194,
                    "z": 0.03327358141541481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3705,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 680.4912109375,
                        "y": 4290.3447265625,
                        "z": 369.7973327636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3202880322933197,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3704,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.50146484375,
                        "y": 4290.4453125,
                        "z": 369.89068603515625
                    },
                    "rotation": {
                        "roll": -1.0422192275871822e-10,
                        "pitch": 0.30904555320739746,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3703,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.511666297912598,
                "transform": {
                    "location": {
                        "x": 642.290771484375,
                        "y": 4290.46923828125,
                        "z": 370.0372619628906
                    },
                    "rotation": {
                        "roll": 0.0014431766467168927,
                        "pitch": 0.3353554308414459,
                        "yaw": 179.66969299316406
                    }
                },
                "velocity": {
                    "x": -15.511204719543457,
                    "y": 0.0894051268696785,
                    "z": 0.07957261800765991
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3702,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 16.047651290893555,
                "transform": {
                    "location": {
                        "x": 621.2738037109375,
                        "y": 4290.59423828125,
                        "z": 370.1028137207031
                    },
                    "rotation": {
                        "roll": -9.155267616733909e-05,
                        "pitch": 0.28641030192375183,
                        "yaw": 179.65184020996094
                    }
                },
                "velocity": {
                    "x": -16.047157287597656,
                    "y": 0.09736064821481705,
                    "z": 0.07978479564189911
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0007176399230957,
        "expert_target_speed": 0.0,
        "target_point": [
            9.94985362917068,
            2.764845282145929
        ],
        "target_point_next": [
            9.94985362917068,
            2.764845282145929
        ]
    }
}