{
    "0": {
        "acceleration": [
            0.00022434425773099065,
            -0.0008046397124417126,
            -0.6390470266342163
        ],
        "angular_velocity": [
            -0.024894803762435913,
            -0.008726007305085659,
            -1.7181659131892957e-05
        ],
        "forward_vector": [
            -0.0017855591140687466,
            0.9999982118606567,
            0.0006321667460724711
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.001785626751370728,
            0.00010652644414221868
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.5811767578125
        ],
        "rotation": [
            -0.006103517021983862,
            0.0362204909324646,
            90.10230255126953
        ],
        "velocity": [
            -0.00010293878585798666,
            -7.600036951771472e-06,
            0.17428527772426605
        ],
        "speed": 0.00010321896238378258,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.28460693359375,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.61810302734375
            ],
            "velocity": [
                -2.7301839509163983e-05,
                -1.5375995872091153e-06,
                0.00045819117804057896
            ],
            "speed_kmh": 0.0016524231774346595,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00045900646364316344,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.61810302734375
                    },
                    "rotation": {
                        "roll": -0.00027465750463306904,
                        "pitch": -0.021788302809000015,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -2.7301839509163983e-05,
                    "y": -1.5375995872091153e-06,
                    "z": 0.00045819117804057896
                },
                "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": 0.00023793888976797462,
        "expert_target_speed": 1.3717427430166513,
        "target_point": [
            50.9995931284083,
            -0.00037728198577807737
        ],
        "target_point_next": [
            101.99967453728068,
            -0.0007554400390697713
        ]
    },
    "5": {
        "acceleration": [
            -0.0019643427804112434,
            0.001132920035161078,
            -0.3269410729408264
        ],
        "angular_velocity": [
            -0.02076643891632557,
            -0.009704621508717537,
            -1.1431396160332952e-05
        ],
        "forward_vector": [
            -0.0017855591140687466,
            0.9999982118606567,
            0.0005545615567825735
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855813493952155,
            3.941476097679697e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6072998046875
        ],
        "rotation": [
            -0.0022582998499274254,
            0.03177403658628464,
            90.10230255126953
        ],
        "velocity": [
            -0.0002344267995795235,
            3.6588520742952824e-05,
            0.055901143699884415
        ],
        "speed": 0.0002372649241064839,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00003433227539,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9989624023438,
                5154.44775390625,
                371.6253967285156
            ],
            "velocity": [
                0.00023679774312768131,
                0.00011109909974038601,
                -0.36461642384529114
            ],
            "speed_kmh": 1.3126194635928095,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8856201171875,
                        "y": 5217.841796875,
                        "z": 371.7033996582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3630003035068512,
                "transform": {
                    "location": {
                        "x": 984.079345703125,
                        "y": 5109.44775390625,
                        "z": 371.5970153808594
                    },
                    "rotation": {
                        "roll": -0.0008850101148709655,
                        "pitch": 0.055638719350099564,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.00042103006853722036,
                    "y": 0.0003322268894407898,
                    "z": -0.36299991607666016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.434736430644989,
                "transform": {
                    "location": {
                        "x": 984.0525512695312,
                        "y": 5124.44775390625,
                        "z": 371.61932373046875
                    },
                    "rotation": {
                        "roll": 0.0002048807218670845,
                        "pitch": 0.04387713223695755,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 4.400298621476395e-06,
                    "y": 0.0003709990414790809,
                    "z": -0.4347362816333771
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3646165132522583,
                "transform": {
                    "location": {
                        "x": 983.9989624023438,
                        "y": 5154.44775390625,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": -0.00042724658851511776,
                        "pitch": 0.014206793159246445,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.00023679774312768131,
                    "y": 0.00011109909974038601,
                    "z": -0.36461642384529114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3560824990272522,
                "transform": {
                    "location": {
                        "x": 983.97216796875,
                        "y": 5169.44775390625,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": 0.0003159637562930584,
                        "pitch": 0.012506076134741306,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -0.00021541064779739827,
                    "y": 0.00010569147707428783,
                    "z": -0.35608240962028503
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.0011449772864580154,
        "expert_target_speed": 1.0622282207786293,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "10": {
        "acceleration": [
            0.003712568199262023,
            0.0006876434781588614,
            -0.09018531441688538
        ],
        "angular_velocity": [
            -0.008680496364831924,
            0.015318124555051327,
            1.4092260244069621e-05
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005216597928665578
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855744808912277,
            2.8762149668182246e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.61480712890625
        ],
        "rotation": [
            -0.0016479500336572528,
            0.029888905584812164,
            90.10230255126953
        ],
        "velocity": [
            7.384740456473082e-05,
            2.0064497221028432e-05,
            0.01468868087977171
        ],
        "speed": 7.652465752735967e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000024795532227,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9989624023438,
                5154.44775390625,
                371.61767578125
            ],
            "velocity": [
                0.000269484706223011,
                -1.6108750060084276e-05,
                0.04397192224860191
            ],
            "speed_kmh": 0.15830190348652184,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8893432617188,
                        "y": 5215.7587890625,
                        "z": 371.6668701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044258687645196915,
                "transform": {
                    "location": {
                        "x": 984.079345703125,
                        "y": 5109.44775390625,
                        "z": 371.58935546875
                    },
                    "rotation": {
                        "roll": -0.0009460482397116721,
                        "pitch": 0.055761661380529404,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -1.1095978152297903e-05,
                    "y": -4.436439849087037e-05,
                    "z": 0.044258665293455124
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027734050527215004,
                "transform": {
                    "location": {
                        "x": 984.0525512695312,
                        "y": 5124.44775390625,
                        "z": 371.59515380859375
                    },
                    "rotation": {
                        "roll": 0.0004462903016246855,
                        "pitch": 0.04382932186126709,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -3.3070598874473944e-05,
                    "y": -1.857018105511088e-05,
                    "z": 0.027734024450182915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04397275298833847,
                "transform": {
                    "location": {
                        "x": 983.9989624023438,
                        "y": 5154.44775390625,
                        "z": 371.61767578125
                    },
                    "rotation": {
                        "roll": -0.00021362266852520406,
                        "pitch": 0.014268264174461365,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.000269484706223011,
                    "y": -1.6108750060084276e-05,
                    "z": 0.04397192224860191
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04401705414056778,
                "transform": {
                    "location": {
                        "x": 983.97216796875,
                        "y": 5169.44775390625,
                        "z": 371.6228942871094
                    },
                    "rotation": {
                        "roll": 2.4316705093951896e-06,
                        "pitch": 0.012103094719350338,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -3.518221774356789e-06,
                    "y": -1.305314708588412e-05,
                    "z": 0.04401705041527748
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.0018037165282294154,
        "expert_target_speed": 1.0212603163072755,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "15": {
        "acceleration": [
            -0.0016253326321020722,
            -0.00036046281456947327,
            -0.03115161322057247
        ],
        "angular_velocity": [
            0.007089003920555115,
            -0.01221980806440115,
            -5.901846975575609e-07
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005168914212845266
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855697078630328,
            1.9707365936483257e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.61663818359375
        ],
        "rotation": [
            -0.001129148993641138,
            0.029615698382258415,
            90.10230255126953
        ],
        "velocity": [
            -4.31945918535348e-05,
            -2.588464667496737e-05,
            0.0036323489621281624
        ],
        "speed": 5.035660531530451e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.08938217163086,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9982299804688,
                5154.537109375,
                371.62457275390625
            ],
            "velocity": [
                -0.008670982904732227,
                1.1531496047973633,
                0.012577352114021778
            ],
            "speed_kmh": 4.151702847339227,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8931884765625,
                        "y": 5213.67529296875,
                        "z": 371.6304626464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.035624384880066,
                "transform": {
                    "location": {
                        "x": 984.0784301757812,
                        "y": 5109.5302734375,
                        "z": 371.5962829589844
                    },
                    "rotation": {
                        "roll": -0.00314329843968153,
                        "pitch": 0.1912316232919693,
                        "yaw": 90.08287048339844
                    }
                },
                "velocity": {
                    "x": -0.010022537782788277,
                    "y": 1.0355035066604614,
                    "z": 0.012241287156939507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8995046615600586,
                "transform": {
                    "location": {
                        "x": 984.0518798828125,
                        "y": 5124.515625,
                        "z": 371.6021728515625
                    },
                    "rotation": {
                        "roll": -0.006286637857556343,
                        "pitch": 0.25600913166999817,
                        "yaw": 90.11508178710938
                    }
                },
                "velocity": {
                    "x": -0.008504403755068779,
                    "y": 0.8991371989250183,
                    "z": 0.024261541664600372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.153250813484192,
                "transform": {
                    "location": {
                        "x": 983.9982299804688,
                        "y": 5154.537109375,
                        "z": 371.62457275390625
                    },
                    "rotation": {
                        "roll": -0.002532956190407276,
                        "pitch": 0.16056407988071442,
                        "yaw": 90.14147186279297
                    }
                },
                "velocity": {
                    "x": -0.008670982904732227,
                    "y": 1.1531496047973633,
                    "z": 0.012577352114021778
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2681115865707397,
                "transform": {
                    "location": {
                        "x": 983.9708862304688,
                        "y": 5169.5654296875,
                        "z": 371.6295166015625
                    },
                    "rotation": {
                        "roll": -0.005920423194766045,
                        "pitch": 0.21925589442253113,
                        "yaw": 90.1483383178711
                    }
                },
                "velocity": {
                    "x": -0.012489814311265945,
                    "y": 1.267987847328186,
                    "z": 0.012553920038044453
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.0016058468027040362,
        "expert_target_speed": 1.016571191621827,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "20": {
        "acceleration": [
            -0.018118154257535934,
            2.9187822341918945,
            -0.004923054948449135
        ],
        "angular_velocity": [
            1.2671706676483154,
            0.012430950067937374,
            0.4881005585193634
        ],
        "forward_vector": [
            -0.0020363605581223965,
            0.9999906420707703,
            0.0038118266966193914
        ],
        "right_vector": [
            -0.9999979138374329,
            -0.0020369093399494886,
            0.00014008127618581057
        ],
        "location": [
            984.0249633789062,
            5139.509765625,
            371.6162414550781
        ],
        "rotation": [
            -0.008026123978197575,
            0.21840211749076843,
            90.1166763305664
        ],
        "velocity": [
            -0.009271970950067043,
            0.7530852556228638,
            0.0018413066864013672
        ],
        "speed": 0.7531423316225513,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.451205253601074,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9942626953125,
                5154.9609375,
                371.6261291503906
            ],
            "velocity": [
                -0.021201087161898613,
                2.178962469100952,
                0.0023486900608986616
            ],
            "speed_kmh": 7.844640748736239,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8967895507812,
                        "y": 5211.59228515625,
                        "z": 371.6297302246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.197993516921997,
                "transform": {
                    "location": {
                        "x": 984.0740966796875,
                        "y": 5109.953125,
                        "z": 371.59808349609375
                    },
                    "rotation": {
                        "roll": -0.003936781547963619,
                        "pitch": 0.2293918877840042,
                        "yaw": 90.23583984375
                    }
                },
                "velocity": {
                    "x": -0.02197243645787239,
                    "y": 2.1978774070739746,
                    "z": 0.005260028876364231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8676478862762451,
                "transform": {
                    "location": {
                        "x": 984.0480346679688,
                        "y": 5124.88623046875,
                        "z": 371.6052551269531
                    },
                    "rotation": {
                        "roll": -0.010437005199491978,
                        "pitch": 0.43691352009773254,
                        "yaw": 90.20543670654297
                    }
                },
                "velocity": {
                    "x": -0.021099206060171127,
                    "y": 1.8675063848495483,
                    "z": 0.009138851426541805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1790668964385986,
                "transform": {
                    "location": {
                        "x": 983.9942626953125,
                        "y": 5154.9609375,
                        "z": 371.6261291503906
                    },
                    "rotation": {
                        "roll": -0.0033569277729839087,
                        "pitch": 0.18067215383052826,
                        "yaw": 90.22169494628906
                    }
                },
                "velocity": {
                    "x": -0.021201087161898613,
                    "y": 2.178962469100952,
                    "z": 0.0023486900608986616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6075994968414307,
                "transform": {
                    "location": {
                        "x": 983.9658203125,
                        "y": 5170.05322265625,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.0077209556475281715,
                        "pitch": 0.2832752466201782,
                        "yaw": 90.29940032958984
                    }
                },
                "velocity": {
                    "x": -0.027638327330350876,
                    "y": 2.607452630996704,
                    "z": 0.001617431640625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.002019766950979829,
        "expert_target_speed": 1.764571154215929,
        "target_point": [
            50.937578122797916,
            -0.013787189513296855
        ],
        "target_point_next": [
            101.93765786078608,
            -0.026847567146332046
        ]
    },
    "25": {
        "acceleration": [
            -0.05069028586149216,
            2.176392078399658,
            -0.00533142127096653
        ],
        "angular_velocity": [
            -0.12576189637184143,
            -0.0004572457983158529,
            0.42935800552368164
        ],
        "forward_vector": [
            -0.0037729497998952866,
            0.9999772906303406,
            0.005586833227425814
        ],
        "right_vector": [
            -0.9999929070472717,
            -0.0037740948610007763,
            0.00019440730102360249
        ],
        "location": [
            984.0213623046875,
            5139.78857421875,
            371.6162109375
        ],
        "rotation": [
            -0.01113889180123806,
            0.32010361552238464,
            90.21617889404297
        ],
        "velocity": [
            -0.02150111086666584,
            1.4010158777236938,
            0.001647577271796763
        ],
        "speed": 1.4011808546373994,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.907756805419922,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9864501953125,
                5155.6962890625,
                371.6265563964844
            ],
            "velocity": [
                -0.04055820778012276,
                3.728020429611206,
                0.002267112722620368
            ],
            "speed_kmh": 13.421670244561806,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.9005126953125,
                        "y": 5209.5087890625,
                        "z": 371.6286926269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7448296546936035,
                "transform": {
                    "location": {
                        "x": 984.0662231445312,
                        "y": 5110.69482421875,
                        "z": 371.59912109375
                    },
                    "rotation": {
                        "roll": -0.00457764370366931,
                        "pitch": 0.28432026505470276,
                        "yaw": 90.41204833984375
                    }
                },
                "velocity": {
                    "x": -0.0406179316341877,
                    "y": 3.744607448577881,
                    "z": 0.003693551989272237
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9873366355895996,
                "transform": {
                    "location": {
                        "x": 984.0416259765625,
                        "y": 5125.4873046875,
                        "z": 371.60650634765625
                    },
                    "rotation": {
                        "roll": -0.01199341844767332,
                        "pitch": 0.4874364137649536,
                        "yaw": 90.35549926757812
                    }
                },
                "velocity": {
                    "x": -0.03558802232146263,
                    "y": 2.9871206283569336,
                    "z": 0.0049240970984101295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7282416820526123,
                "transform": {
                    "location": {
                        "x": 983.9864501953125,
                        "y": 5155.6962890625,
                        "z": 371.6265563964844
                    },
                    "rotation": {
                        "roll": -0.003723139176145196,
                        "pitch": 0.23988306522369385,
                        "yaw": 90.40025329589844
                    }
                },
                "velocity": {
                    "x": -0.04055820778012276,
                    "y": 3.728020429611206,
                    "z": 0.002267112722620368
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.235956192016602,
                "transform": {
                    "location": {
                        "x": 983.9562377929688,
                        "y": 5170.92041015625,
                        "z": 371.63140869140625
                    },
                    "rotation": {
                        "roll": -0.007720982190221548,
                        "pitch": 0.337588906288147,
                        "yaw": 90.45772552490234
                    }
                },
                "velocity": {
                    "x": -0.04841697961091995,
                    "y": 4.2356791496276855,
                    "z": 0.001714420272037387
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.007786747068166733,
        "expert_target_speed": 2.4200799753042053,
        "target_point": [
            50.658658499909926,
            -0.10414249146730123
        ],
        "target_point_next": [
            101.65863995482641,
            -0.20511502628188896
        ]
    },
    "30": {
        "acceleration": [
            -0.04605088382959366,
            2.215607166290283,
            -0.012055013328790665
        ],
        "angular_velocity": [
            -0.024744756519794464,
            0.036196671426296234,
            0.7592219114303589
        ],
        "forward_vector": [
            -0.0066744489595294,
            0.9999667406082153,
            0.0046870531514286995
        ],
        "right_vector": [
            -0.999977707862854,
            -0.006675498094409704,
            0.0002082570135826245
        ],
        "location": [
            984.0151977539062,
            5140.1923828125,
            371.6166687011719
        ],
        "rotation": [
            -0.011932378634810448,
            0.2685493528842926,
            90.3824234008789
        ],
        "velocity": [
            -0.03284537047147751,
            1.8573516607284546,
            0.0013960647629573941
        ],
        "speed": 1.8576420564716327,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.62603187561035,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9733276367188,
                5156.818359375,
                371.626953125
            ],
            "velocity": [
                -0.06218448653817177,
                5.157209396362305,
                0.008121605031192303
            ],
            "speed_kmh": 18.567326450212345,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.001044273376465,
                "transform": {
                    "location": {
                        "x": 986.920654296875,
                        "y": 5207.4833984375,
                        "z": 371.62640380859375
                    },
                    "rotation": {
                        "roll": -0.049194321036338806,
                        "pitch": -0.034424152225255966,
                        "yaw": -89.40249633789062
                    }
                },
                "velocity": {
                    "x": 0.08839033544063568,
                    "y": -8.0005521774292,
                    "z": -0.007832651026546955
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.162083625793457,
                "transform": {
                    "location": {
                        "x": 984.0530395507812,
                        "y": 5111.81884765625,
                        "z": 371.600341796875
                    },
                    "rotation": {
                        "roll": -0.003662093775346875,
                        "pitch": 0.28551554679870605,
                        "yaw": 90.5782241821289
                    }
                },
                "velocity": {
                    "x": -0.06205587089061737,
                    "y": 5.1616973876953125,
                    "z": 0.011635541915893555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.3937273025512695,
                "transform": {
                    "location": {
                        "x": 984.0308227539062,
                        "y": 5126.421875,
                        "z": 371.6070556640625
                    },
                    "rotation": {
                        "roll": -0.012207042425870895,
                        "pitch": 0.6111174821853638,
                        "yaw": 90.51506805419922
                    }
                },
                "velocity": {
                    "x": -0.054823387414216995,
                    "y": 4.393383502960205,
                    "z": 0.0037535380106419325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.157590866088867,
                "transform": {
                    "location": {
                        "x": 983.9733276367188,
                        "y": 5156.818359375,
                        "z": 371.626953125
                    },
                    "rotation": {
                        "roll": -0.005035402253270149,
                        "pitch": 0.24376261234283447,
                        "yaw": 90.57386016845703
                    }
                },
                "velocity": {
                    "x": -0.06218448653817177,
                    "y": 5.157209396362305,
                    "z": 0.008121605031192303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.456360340118408,
                "transform": {
                    "location": {
                        "x": 983.94140625,
                        "y": 5172.16064453125,
                        "z": 371.63201904296875
                    },
                    "rotation": {
                        "roll": -0.006713859736919403,
                        "pitch": 0.29817187786102295,
                        "yaw": 90.61578369140625
                    }
                },
                "velocity": {
                    "x": -0.06831107288599014,
                    "y": 5.4559326171875,
                    "z": 0.0015112780965864658
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.018377866595983505,
        "expert_target_speed": 2.895055815776434,
        "target_point": [
            50.254300046430565,
            -0.2550577507384142
        ],
        "target_point_next": [
            101.25377158223287,
            -0.5044709089788894
        ]
    },
    "35": {
        "acceleration": [
            -0.1164332777261734,
            3.0675125122070312,
            0.006832885555922985
        ],
        "angular_velocity": [
            0.23638299107551575,
            0.05244746431708336,
            1.070422649383545
        ],
        "forward_vector": [
            -0.010690733790397644,
            0.9999285936355591,
            0.005339597351849079
        ],
        "right_vector": [
            -0.9999427795410156,
            -0.010692626237869263,
            0.0003259665973018855
        ],
        "location": [
            984.005126953125,
            5140.74365234375,
            371.6168212890625
        ],
        "rotation": [
            -0.018676776438951492,
            0.30593782663345337,
            90.61255645751953
        ],
        "velocity": [
            -0.05514441058039665,
            2.5501794815063477,
            0.0022921180352568626
        ],
        "speed": 2.550775625944831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.429271697998047,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9562377929688,
                5158.1728515625,
                371.6272277832031
            ],
            "velocity": [
                -0.07150054723024368,
                5.509959697723389,
                0.0013150405138731003
            ],
            "speed_kmh": 19.83752550769522,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.17881965637207,
                "transform": {
                    "location": {
                        "x": 986.9425659179688,
                        "y": 5205.45947265625,
                        "z": 371.62542724609375
                    },
                    "rotation": {
                        "roll": -0.0191650353372097,
                        "pitch": 0.0016460755141451955,
                        "yaw": -89.3616943359375
                    }
                },
                "velocity": {
                    "x": 0.09131632000207901,
                    "y": -8.17831039428711,
                    "z": -0.0017759704496711493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5417094230651855,
                "transform": {
                    "location": {
                        "x": 984.035888671875,
                        "y": 5113.18115234375,
                        "z": 371.6015930175781
                    },
                    "rotation": {
                        "roll": -0.0017089946195483208,
                        "pitch": 0.159136563539505,
                        "yaw": 90.7051773071289
                    }
                },
                "velocity": {
                    "x": -0.07197318226099014,
                    "y": 5.5412397384643555,
                    "z": 0.005030794069170952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.327519416809082,
                "transform": {
                    "location": {
                        "x": 984.0153198242188,
                        "y": 5127.67626953125,
                        "z": 371.6083984375
                    },
                    "rotation": {
                        "roll": -0.00946045946329832,
                        "pitch": 0.5656147599220276,
                        "yaw": 90.64177703857422
                    }
                },
                "velocity": {
                    "x": -0.06935454905033112,
                    "y": 5.327065944671631,
                    "z": 0.004865836817771196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.51042366027832,
                "transform": {
                    "location": {
                        "x": 983.9562377929688,
                        "y": 5158.1728515625,
                        "z": 371.6272277832031
                    },
                    "rotation": {
                        "roll": -0.002563473768532276,
                        "pitch": 0.11518430709838867,
                        "yaw": 90.69365692138672
                    }
                },
                "velocity": {
                    "x": -0.07150054723024368,
                    "y": 5.509959697723389,
                    "z": 0.0013150405138731003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.619103908538818,
                "transform": {
                    "location": {
                        "x": 983.923828125,
                        "y": 5173.544921875,
                        "z": 371.6322326660156
                    },
                    "rotation": {
                        "roll": -0.0038757366128265858,
                        "pitch": 0.11463788896799088,
                        "yaw": 90.69293212890625
                    }
                },
                "velocity": {
                    "x": -0.07305508106946945,
                    "y": 5.618628978729248,
                    "z": 0.0020036601927131414
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.030984284356236458,
        "expert_target_speed": 3.5907930372346937,
        "target_point": [
            49.701525144740515,
            -0.46101250251305137
        ],
        "target_point_next": [
            100.69958413433011,
            -0.915196549958301
        ]
    },
    "40": {
        "acceleration": [
            -0.14974519610404968,
            3.3695316314697266,
            0.0047779083251953125
        ],
        "angular_velocity": [
            0.21300449967384338,
            0.029067102819681168,
            1.3597546815872192
        ],
        "forward_vector": [
            -0.015996091067790985,
            0.9998518824577332,
            0.006343798711895943
        ],
        "right_vector": [
            -0.9998718500137329,
            -0.01599944196641445,
            0.00047776169958524406
        ],
        "location": [
            983.98828125,
            5141.48583984375,
            371.6169738769531
        ],
        "rotation": [
            -0.027374282479286194,
            0.36347532272338867,
            90.91656494140625
        ],
        "velocity": [
            -0.08881818503141403,
            3.3665874004364014,
            0.0019212913466617465
        ],
        "speed": 3.3677588088771144,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.24713706970215,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9400634765625,
                5159.73291015625,
                371.627685546875
            ],
            "velocity": [
                -0.06637659668922424,
                7.342548847198486,
                0.0019377135904505849
            ],
            "speed_kmh": 26.434256827522105,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.969597339630127,
                "transform": {
                    "location": {
                        "x": 986.9649047851562,
                        "y": 5203.4423828125,
                        "z": 371.6254577636719
                    },
                    "rotation": {
                        "roll": -0.00714111328125,
                        "pitch": 0.0056622265838086605,
                        "yaw": -89.36428833007812
                    }
                },
                "velocity": {
                    "x": 0.08870143443346024,
                    "y": -7.9691033363342285,
                    "z": 0.0017441463423892856
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.014867782592773,
                "transform": {
                    "location": {
                        "x": 984.0197143554688,
                        "y": 5114.73681640625,
                        "z": 371.6031494140625
                    },
                    "rotation": {
                        "roll": 0.008857816457748413,
                        "pitch": 0.27643823623657227,
                        "yaw": 90.58757781982422
                    }
                },
                "velocity": {
                    "x": -0.06380023807287216,
                    "y": 7.014575481414795,
                    "z": 0.005590066779404879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.734616756439209,
                "transform": {
                    "location": {
                        "x": 983.9998168945312,
                        "y": 5128.97021484375,
                        "z": 371.61083984375
                    },
                    "rotation": {
                        "roll": 0.013294127769768238,
                        "pitch": 0.13824301958084106,
                        "yaw": 90.65765380859375
                    }
                },
                "velocity": {
                    "x": -0.04613513499498367,
                    "y": 4.734391212463379,
                    "z": -0.0027143764309585094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.342849254608154,
                "transform": {
                    "location": {
                        "x": 983.9400634765625,
                        "y": 5159.73291015625,
                        "z": 371.627685546875
                    },
                    "rotation": {
                        "roll": 0.008621089160442352,
                        "pitch": 0.2715819776058197,
                        "yaw": 90.59114074707031
                    }
                },
                "velocity": {
                    "x": -0.06637659668922424,
                    "y": 7.342548847198486,
                    "z": 0.0019377135904505849
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.873398780822754,
                "transform": {
                    "location": {
                        "x": 983.9080200195312,
                        "y": 5175.22412109375,
                        "z": 371.6325988769531
                    },
                    "rotation": {
                        "roll": 0.012845190241932869,
                        "pitch": 0.3912263810634613,
                        "yaw": 90.56133270263672
                    }
                },
                "velocity": {
                    "x": -0.06731179356575012,
                    "y": 7.873110771179199,
                    "z": 0.002330140909180045
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.05038774758577347,
        "expert_target_speed": 4.408433262495697,
        "target_point": [
            48.95601736814937,
            -0.72969154373426
        ],
        "target_point_next": [
            99.95094857581041,
            -1.4544639083654758
        ]
    },
    "45": {
        "acceleration": [
            -0.22782772779464722,
            3.515758514404297,
            0.0064765941351652145
        ],
        "angular_velocity": [
            0.10711109638214111,
            0.06258480250835419,
            1.6992402076721191
        ],
        "forward_vector": [
            -0.022733697667717934,
            0.99971604347229,
            0.007139264140278101
        ],
        "right_vector": [
            -0.9997411966323853,
            -0.022739244624972343,
            0.0006966646178625524
        ],
        "location": [
            983.9610595703125,
            5142.4443359375,
            371.6173095703125
        ],
        "rotation": [
            -0.03991696238517761,
            0.40905317664146423,
            91.30268859863281
        ],
        "velocity": [
            -0.1394454836845398,
            4.2588396072387695,
            0.002120275516062975
        ],
        "speed": 4.261121899582983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.25931739807129,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.923583984375,
                5161.70361328125,
                371.6280517578125
            ],
            "velocity": [
                -0.066693514585495,
                8.268555641174316,
                0.0012851142091676593
            ],
            "speed_kmh": 29.76776895227657,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.147754669189453,
                "transform": {
                    "location": {
                        "x": 986.9816284179688,
                        "y": 5201.4267578125,
                        "z": 371.6260070800781
                    },
                    "rotation": {
                        "roll": 0.022199731320142746,
                        "pitch": 0.016481244936585426,
                        "yaw": -89.54170989990234
                    }
                },
                "velocity": {
                    "x": 0.05657350271940231,
                    "y": -8.147558212280273,
                    "z": 0.0019285010639578104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.008736610412598,
                "transform": {
                    "location": {
                        "x": 984.0057373046875,
                        "y": 5116.3515625,
                        "z": 371.60406494140625
                    },
                    "rotation": {
                        "roll": 0.006352214142680168,
                        "pitch": -0.10998652875423431,
                        "yaw": 90.16627502441406
                    }
                },
                "velocity": {
                    "x": -0.045389965176582336,
                    "y": 5.008528709411621,
                    "z": 0.00475838640704751
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0036402810364961624,
                "transform": {
                    "location": {
                        "x": 983.9959716796875,
                        "y": 5129.35302734375,
                        "z": 371.6160888671875
                    },
                    "rotation": {
                        "roll": 0.001981356181204319,
                        "pitch": -1.2803325653076172,
                        "yaw": 90.62367248535156
                    }
                },
                "velocity": {
                    "x": 0.00034581939689815044,
                    "y": -0.0031878214795142412,
                    "z": -0.0017233247635886073
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.268824577331543,
                "transform": {
                    "location": {
                        "x": 983.923583984375,
                        "y": 5161.70361328125,
                        "z": 371.6280517578125
                    },
                    "rotation": {
                        "roll": 0.005296776536852121,
                        "pitch": 0.19727633893489838,
                        "yaw": 90.49504852294922
                    }
                },
                "velocity": {
                    "x": -0.066693514585495,
                    "y": 8.268555641174316,
                    "z": 0.0012851142091676593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.255417823791504,
                "transform": {
                    "location": {
                        "x": 983.8912353515625,
                        "y": 5177.30322265625,
                        "z": 371.63299560546875
                    },
                    "rotation": {
                        "roll": 0.007832959294319153,
                        "pitch": 0.168070450425148,
                        "yaw": 90.45658111572266
                    }
                },
                "velocity": {
                    "x": -0.06330778449773788,
                    "y": 8.25517463684082,
                    "z": 0.0022381781600415707
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.08647912740707397,
        "expert_target_speed": 5.278415398197668,
        "target_point": [
            47.991122764306866,
            -1.064936445462099
        ],
        "target_point_next": [
            98.98001346130074,
            -2.133266611949478
        ]
    },
    "50": {
        "acceleration": [
            0.026953518390655518,
            3.4226322174072266,
            0.07038497924804688
        ],
        "angular_velocity": [
            -0.00954606756567955,
            -0.17570780217647552,
            1.3483929634094238
        ],
        "forward_vector": [
            -0.03045656532049179,
            0.9995099902153015,
            0.007214721757918596
        ],
        "right_vector": [
            -0.9995355606079102,
            -0.030462704598903656,
            0.0007424698560498655
        ],
        "location": [
            983.9200439453125,
            5143.6201171875,
            371.6178894042969
        ],
        "rotation": [
            -0.0425415001809597,
            0.41337668895721436,
            91.74534606933594
        ],
        "velocity": [
            -0.19000478088855743,
            5.112999439239502,
            0.0054160309955477715
        ],
        "speed": 5.1165286163984245,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.1186580657959,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.9077758789062,
                5163.73876953125,
                371.6282043457031
            ],
            "velocity": [
                -0.05882706865668297,
                7.809850215911865,
                0.0019380568992346525
            ],
            "speed_kmh": 28.116259229930403,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.321070671081543,
                "transform": {
                    "location": {
                        "x": 986.9948120117188,
                        "y": 5199.439453125,
                        "z": 371.6271057128906
                    },
                    "rotation": {
                        "roll": 0.014917400665581226,
                        "pitch": -0.10394181311130524,
                        "yaw": -89.63089752197266
                    }
                },
                "velocity": {
                    "x": 0.0450979620218277,
                    "y": -7.320931434631348,
                    "z": 0.0015968227526172996
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005111180245876312,
                "transform": {
                    "location": {
                        "x": 984.0018310546875,
                        "y": 5116.77978515625,
                        "z": 371.60345458984375
                    },
                    "rotation": {
                        "roll": 0.01563914120197296,
                        "pitch": -0.6204202175140381,
                        "yaw": 90.06395721435547
                    }
                },
                "velocity": {
                    "x": 0.000575340585783124,
                    "y": -0.004708236549049616,
                    "z": 0.0019041156629100442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3587065935134888,
                "transform": {
                    "location": {
                        "x": 983.9942626953125,
                        "y": 5129.5634765625,
                        "z": 371.6121826171875
                    },
                    "rotation": {
                        "roll": 0.005875253584235907,
                        "pitch": -0.2037103772163391,
                        "yaw": 90.59880065917969
                    }
                },
                "velocity": {
                    "x": -0.011432592757046223,
                    "y": 1.358656883239746,
                    "z": 0.002107648877426982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.81007194519043,
                "transform": {
                    "location": {
                        "x": 983.9077758789062,
                        "y": 5163.73876953125,
                        "z": 371.6282043457031
                    },
                    "rotation": {
                        "roll": 0.0029304916970431805,
                        "pitch": 0.003339962335303426,
                        "yaw": 90.42359161376953
                    }
                },
                "velocity": {
                    "x": -0.05882706865668297,
                    "y": 7.809850215911865,
                    "z": 0.0019380568992346525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.804652690887451,
                "transform": {
                    "location": {
                        "x": 983.8770141601562,
                        "y": 5179.2919921875,
                        "z": 371.6333923339844
                    },
                    "rotation": {
                        "roll": 0.011114709079265594,
                        "pitch": -0.02307237684726715,
                        "yaw": 90.4100570678711
                    }
                },
                "velocity": {
                    "x": -0.04627330228686333,
                    "y": 7.804515361785889,
                    "z": 0.0017746161902323365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.1495307832956314,
        "expert_target_speed": 6.072946159863698,
        "target_point": [
            46.804975845256344,
            -1.4409307718799413
        ],
        "target_point_next": [
            97.78408889758187,
            -2.9032358880675635
        ]
    },
    "55": {
        "acceleration": [
            -0.04485368728637695,
            -0.4880809783935547,
            -0.002366257831454277
        ],
        "angular_velocity": [
            -0.8584580421447754,
            -0.030486533418297768,
            0.5951554775238037
        ],
        "forward_vector": [
            -0.03708186373114586,
            0.9993000030517578,
            0.004947403445839882
        ],
        "right_vector": [
            -0.9993119835853577,
            -0.037084951996803284,
            0.0005331586580723524
        ],
        "location": [
            983.8720703125,
            5144.94287109375,
            371.6190185546875
        ],
        "rotation": [
            -0.03054811619222164,
            0.28346648812294006,
            92.1251449584961
        ],
        "velocity": [
            -0.21132682263851166,
            5.4110870361328125,
            0.0018144130008295178
        ],
        "speed": 5.415212086204111,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.663103103637695,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.8968505859375,
                5165.60595703125,
                371.6285705566406
            ],
            "velocity": [
                -0.03752575442194939,
                7.323266983032227,
                0.00224756239913404
            ],
            "speed_kmh": 26.364108498100762,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.756446361541748,
                "transform": {
                    "location": {
                        "x": 987.0042114257812,
                        "y": 5197.88623046875,
                        "z": 371.6290588378906
                    },
                    "rotation": {
                        "roll": 0.012707430869340897,
                        "pitch": -0.5107410550117493,
                        "yaw": -89.72505950927734
                    }
                },
                "velocity": {
                    "x": 0.027081865817308426,
                    "y": -5.756382465362549,
                    "z": 0.0015972709516063333
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3054078817367554,
                "transform": {
                    "location": {
                        "x": 984.000732421875,
                        "y": 5116.984375,
                        "z": 371.6046142578125
                    },
                    "rotation": {
                        "roll": 0.004100393038243055,
                        "pitch": 0.016105584800243378,
                        "yaw": 90.12663269042969
                    }
                },
                "velocity": {
                    "x": -0.005777381360530853,
                    "y": 1.3053934574127197,
                    "z": 0.002084655687212944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.266742706298828,
                "transform": {
                    "location": {
                        "x": 983.9904174804688,
                        "y": 5130.02783203125,
                        "z": 371.6109313964844
                    },
                    "rotation": {
                        "roll": 0.005015671253204346,
                        "pitch": 0.2422189861536026,
                        "yaw": 90.54432678222656
                    }
                },
                "velocity": {
                    "x": -0.017607608810067177,
                    "y": 2.2666733264923096,
                    "z": 0.0020805643871426582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.323363304138184,
                "transform": {
                    "location": {
                        "x": 983.8968505859375,
                        "y": 5165.60595703125,
                        "z": 371.6285705566406
                    },
                    "rotation": {
                        "roll": 0.006020172964781523,
                        "pitch": -0.04974426329135895,
                        "yaw": 90.33776092529297
                    }
                },
                "velocity": {
                    "x": -0.03752575442194939,
                    "y": 7.323266983032227,
                    "z": 0.00224756239913404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.155721664428711,
                "transform": {
                    "location": {
                        "x": 983.8667602539062,
                        "y": 5181.28466796875,
                        "z": 371.6338195800781
                    },
                    "rotation": {
                        "roll": 0.009388175792992115,
                        "pitch": 0.05865766108036041,
                        "yaw": 90.27752685546875
                    }
                },
                "velocity": {
                    "x": -0.037317242473363876,
                    "y": 8.155635833740234,
                    "z": 0.0016884994693100452
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.23617802560329437,
        "expert_target_speed": 6.343673868825892,
        "target_point": [
            45.470772508647244,
            -1.750054469493993
        ],
        "target_point_next": [
            96.4390719292235,
            -3.550265020818592
        ]
    },
    "60": {
        "acceleration": [
            -0.16390681266784668,
            10.528202056884766,
            0.006868932396173477
        ],
        "angular_velocity": [
            2.454225540161133,
            -0.14182771742343903,
            -0.30021047592163086
        ],
        "forward_vector": [
            -0.03698107972741127,
            0.9993067979812622,
            0.004286633804440498
        ],
        "right_vector": [
            -0.9993160367012024,
            -0.036980558186769485,
            -0.0002008720621233806
        ],
        "location": [
            983.821044921875,
            5146.32275390625,
            371.6195983886719
        ],
        "rotation": [
            0.011509227566421032,
            0.24560676515102386,
            92.1193618774414
        ],
        "velocity": [
            -0.20875489711761475,
            6.116213321685791,
            0.002004289533942938
        ],
        "speed": 6.119774832739953,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.19249153137207,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.88818359375,
                5167.51513671875,
                371.6291809082031
            ],
            "velocity": [
                -0.034063272178173065,
                8.00696086883545,
                0.0018116950523108244
            ],
            "speed_kmh": 28.8253207064867,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.084778308868408,
                "transform": {
                    "location": {
                        "x": 987.0101928710938,
                        "y": 5196.44482421875,
                        "z": 371.6283264160156
                    },
                    "rotation": {
                        "roll": 0.010418890975415707,
                        "pitch": -0.1673532873392105,
                        "yaw": -89.76472473144531
                    }
                },
                "velocity": {
                    "x": 0.023075835779309273,
                    "y": -6.084733963012695,
                    "z": 0.0024208640679717064
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2823657989501953,
                "transform": {
                    "location": {
                        "x": 983.9978637695312,
                        "y": 5117.44921875,
                        "z": 371.6051940917969
                    },
                    "rotation": {
                        "roll": -0.0014343321090564132,
                        "pitch": 0.16348056495189667,
                        "yaw": 90.23599243164062
                    }
                },
                "velocity": {
                    "x": -0.01464860513806343,
                    "y": 2.282318115234375,
                    "z": 0.0019313240190967917
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5970165729522705,
                "transform": {
                    "location": {
                        "x": 983.9845581054688,
                        "y": 5130.75927734375,
                        "z": 371.6105651855469
                    },
                    "rotation": {
                        "roll": 0.004133026581257582,
                        "pitch": 0.4863435924053192,
                        "yaw": 90.50767517089844
                    }
                },
                "velocity": {
                    "x": -0.02791086584329605,
                    "y": 3.596907615661621,
                    "z": 0.002092246897518635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.007033348083496,
                "transform": {
                    "location": {
                        "x": 983.88818359375,
                        "y": 5167.51513671875,
                        "z": 371.6291809082031
                    },
                    "rotation": {
                        "roll": 0.003630182007327676,
                        "pitch": 0.08022056519985199,
                        "yaw": 90.24588775634766
                    }
                },
                "velocity": {
                    "x": -0.034063272178173065,
                    "y": 8.00696086883545,
                    "z": 0.0018116950523108244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047714233398438,
                "transform": {
                    "location": {
                        "x": 983.8580322265625,
                        "y": 5183.3203125,
                        "z": 371.6341857910156
                    },
                    "rotation": {
                        "roll": 0.004174625035375357,
                        "pitch": 0.0041117738001048565,
                        "yaw": 90.25733184814453
                    }
                },
                "velocity": {
                    "x": -0.03418777510523796,
                    "y": 8.04764175415039,
                    "z": 0.0019851778633892536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.26690468192100525,
        "expert_target_speed": 6.979736631837913,
        "target_point": [
            44.09012661784133,
            -1.7453323426223109
        ],
        "target_point_next": [
            95.0586111840458,
            -3.540293311331866
        ]
    },
    "65": {
        "acceleration": [
            0.17458826303482056,
            3.3074474334716797,
            0.0005582813173532486
        ],
        "angular_velocity": [
            -0.1390349119901657,
            -0.1632756143808365,
            -1.966869831085205
        ],
        "forward_vector": [
            -0.03051004558801651,
            0.9995038509368896,
            0.007820525206625462
        ],
        "right_vector": [
            -0.9995341300964355,
            -0.030503006651997566,
            -0.001017690752632916
        ],
        "location": [
            983.7696533203125,
            5148.0146484375,
            371.61932373046875
        ],
        "rotation": [
            0.058311183005571365,
            0.4480876922607422,
            91.74842071533203
        ],
        "velocity": [
            -0.18542134761810303,
            7.18107795715332,
            0.002251005033031106
        ],
        "speed": 7.183471424239524,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.499797821044922,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.880126953125,
                5169.51416015625,
                371.6295166015625
            ],
            "velocity": [
                -0.027471443638205528,
                7.788618087768555,
                0.002036399906501174
            ],
            "speed_kmh": 28.039200485276915,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.821286678314209,
                "transform": {
                    "location": {
                        "x": 987.0170288085938,
                        "y": 5194.64892578125,
                        "z": 371.6266174316406
                    },
                    "rotation": {
                        "roll": 0.004708784632384777,
                        "pitch": 0.44645529985427856,
                        "yaw": -89.77886199951172
                    }
                },
                "velocity": {
                    "x": 0.028764259070158005,
                    "y": -7.821233749389648,
                    "z": 0.0014660072047263384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0160343647003174,
                "transform": {
                    "location": {
                        "x": 983.9942016601562,
                        "y": 5117.9814453125,
                        "z": 371.60552978515625
                    },
                    "rotation": {
                        "roll": -0.002044678432866931,
                        "pitch": 0.05382188782095909,
                        "yaw": 90.4271011352539
                    }
                },
                "velocity": {
                    "x": -0.014498086646199226,
                    "y": 2.015981435775757,
                    "z": 0.0017757891910150647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.929171562194824,
                "transform": {
                    "location": {
                        "x": 983.9762573242188,
                        "y": 5131.83544921875,
                        "z": 371.61090087890625
                    },
                    "rotation": {
                        "roll": 0.0028530159033834934,
                        "pitch": 0.6029826998710632,
                        "yaw": 90.47207641601562
                    }
                },
                "velocity": {
                    "x": -0.0374835841357708,
                    "y": 4.929028511047363,
                    "z": 0.0025630758609622717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.788666725158691,
                "transform": {
                    "location": {
                        "x": 983.880126953125,
                        "y": 5169.51416015625,
                        "z": 371.6295166015625
                    },
                    "rotation": {
                        "roll": 0.002810515696182847,
                        "pitch": 0.0042347172275185585,
                        "yaw": 90.2366943359375
                    }
                },
                "velocity": {
                    "x": -0.027471443638205528,
                    "y": 7.788618087768555,
                    "z": 0.002036399906501174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.975677967071533,
                "transform": {
                    "location": {
                        "x": 983.8508911132812,
                        "y": 5185.3134765625,
                        "z": 371.6343994140625
                    },
                    "rotation": {
                        "roll": 0.005684239324182272,
                        "pitch": -0.007233169861137867,
                        "yaw": 90.18612670898438
                    }
                },
                "velocity": {
                    "x": -0.024684594944119453,
                    "y": 7.975639343261719,
                    "z": 0.0022220707032829523
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.2632299065589905,
        "expert_target_speed": 7.8541026844856825,
        "target_point": [
            42.407825991565204,
            -1.4596348660533116
        ],
        "target_point_next": [
            93.3868619235279,
            -2.9246260954710124
        ]
    },
    "70": {
        "acceleration": [
            0.2576252818107605,
            3.0431556701660156,
            0.010838888585567474
        ],
        "angular_velocity": [
            -0.1598568856716156,
            -0.08340582251548767,
            -2.132354497909546
        ],
        "forward_vector": [
            -0.02119440957903862,
            0.9997503161430359,
            0.007078826427459717
        ],
        "right_vector": [
            -0.9997742772102356,
            -0.021183522418141365,
            -0.001609251950867474
        ],
        "location": [
            983.7288818359375,
            5149.9130859375,
            371.62005615234375
        ],
        "rotation": [
            0.09220569580793381,
            0.4055902659893036,
            91.21446990966797
        ],
        "velocity": [
            -0.12791691720485687,
            7.967278957366943,
            0.0024715899489820004
        ],
        "speed": 7.968305762344294,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.5004940032959,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.874267578125,
                5171.4130859375,
                371.6299133300781
            ],
            "velocity": [
                -0.02241402305662632,
                7.598271369934082,
                0.0015540599124506116
            ],
            "speed_kmh": 27.353896517432485,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.368735313415527,
                "transform": {
                    "location": {
                        "x": 987.0243530273438,
                        "y": 5192.57763671875,
                        "z": 371.6274108886719
                    },
                    "rotation": {
                        "roll": 0.007102588657289743,
                        "pitch": 0.37538033723831177,
                        "yaw": -89.80052185058594
                    }
                },
                "velocity": {
                    "x": 0.02526107430458069,
                    "y": -8.368697166442871,
                    "z": 0.001936578657478094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9327893257141113,
                "transform": {
                    "location": {
                        "x": 983.9893798828125,
                        "y": 5118.58349609375,
                        "z": 371.6062316894531
                    },
                    "rotation": {
                        "roll": -0.0004577643994707614,
                        "pitch": 0.15451252460479736,
                        "yaw": 90.50519561767578
                    }
                },
                "velocity": {
                    "x": -0.023420454934239388,
                    "y": 2.932695150375366,
                    "z": 0.0019879532046616077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.331801414489746,
                "transform": {
                    "location": {
                        "x": 983.9661254882812,
                        "y": 5133.15478515625,
                        "z": 371.6127624511719
                    },
                    "rotation": {
                        "roll": 0.0014222476165741682,
                        "pitch": 0.39703887701034546,
                        "yaw": 90.44795227050781
                    }
                },
                "velocity": {
                    "x": -0.04050852358341217,
                    "y": 5.33164644241333,
                    "z": 0.0035867595579475164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.598304748535156,
                "transform": {
                    "location": {
                        "x": 983.874267578125,
                        "y": 5171.4130859375,
                        "z": 371.6299133300781
                    },
                    "rotation": {
                        "roll": 0.001976623432710767,
                        "pitch": -0.012116755358874798,
                        "yaw": 90.16091918945312
                    }
                },
                "velocity": {
                    "x": -0.02241402305662632,
                    "y": 7.598271369934082,
                    "z": 0.0015540599124506116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.095006942749023,
                "transform": {
                    "location": {
                        "x": 983.844970703125,
                        "y": 5187.32666015625,
                        "z": 371.634521484375
                    },
                    "rotation": {
                        "roll": 0.0030141829047352076,
                        "pitch": 0.01777898147702217,
                        "yaw": 90.17716217041016
                    }
                },
                "velocity": {
                    "x": -0.02318146452307701,
                    "y": 8.094974517822266,
                    "z": -4.540443478617817e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.263356477022171,
        "expert_target_speed": 8.449244582063018,
        "target_point": [
            40.520714139669906,
            -1.0648035175086301
        ],
        "target_point_next": [
            91.51119096389279,
            -2.0545393878318956
        ]
    },
    "75": {
        "acceleration": [
            0.13244077563285828,
            2.866973876953125,
            -0.006175041198730469
        ],
        "angular_velocity": [
            -0.10932647436857224,
            0.06513109058141708,
            -1.4970060586929321
        ],
        "forward_vector": [
            -0.013160448521375656,
            0.9998922348022461,
            0.006506158504635096
        ],
        "right_vector": [
            -0.9999125599861145,
            -0.013151727616786957,
            -0.0013814806006848812
        ],
        "location": [
            983.7001953125,
            5152.0009765625,
            371.620849609375
        ],
        "rotation": [
            0.07915470749139786,
            0.372778058052063,
            90.75407409667969
        ],
        "velocity": [
            -0.09394727647304535,
            8.70040512084961,
            0.002035236218944192
        ],
        "speed": 8.700912329041294,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.374691009521484,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.8687133789062,
                5173.375,
                371.6304626464844
            ],
            "velocity": [
                -0.022178713232278824,
                7.968785285949707,
                0.0015206622192636132
            ],
            "speed_kmh": 28.687738661513286,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8606567382812,
                        "y": 5231.861328125,
                        "z": 371.92633056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02597520872950554,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.809791564941406,
                "transform": {
                    "location": {
                        "x": 987.030029296875,
                        "y": 5190.56640625,
                        "z": 371.6292419433594
                    },
                    "rotation": {
                        "roll": 0.007409554906189442,
                        "pitch": -0.010258943773806095,
                        "yaw": -89.84252166748047
                    }
                },
                "velocity": {
                    "x": 0.019538726657629013,
                    "y": -7.80976676940918,
                    "z": 0.0018108271760866046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.429035663604736,
                "transform": {
                    "location": {
                        "x": 983.9840698242188,
                        "y": 5119.51318359375,
                        "z": 371.607177734375
                    },
                    "rotation": {
                        "roll": 0.004193325061351061,
                        "pitch": 0.25781914591789246,
                        "yaw": 90.4102783203125
                    }
                },
                "velocity": {
                    "x": -0.024113308638334274,
                    "y": 4.428968906402588,
                    "z": 0.002741012489423156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.8629231452941895,
                "transform": {
                    "location": {
                        "x": 983.95654296875,
                        "y": 5134.671875,
                        "z": 371.613037109375
                    },
                    "rotation": {
                        "roll": 0.015437952242791653,
                        "pitch": 0.5602735280990601,
                        "yaw": 90.36892700195312
                    }
                },
                "velocity": {
                    "x": -0.034563444554805756,
                    "y": 6.86283540725708,
                    "z": 0.0026999949477612972
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.96881628036499,
                "transform": {
                    "location": {
                        "x": 983.8687133789062,
                        "y": 5173.375,
                        "z": 371.6304626464844
                    },
                    "rotation": {
                        "roll": 0.0011983368312940001,
                        "pitch": 0.0507824532687664,
                        "yaw": 90.17810821533203
                    }
                },
                "velocity": {
                    "x": -0.022178713232278824,
                    "y": 7.968785285949707,
                    "z": 0.0015206622192636132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.016258239746094,
                "transform": {
                    "location": {
                        "x": 983.8397216796875,
                        "y": 5189.34130859375,
                        "z": 371.6344299316406
                    },
                    "rotation": {
                        "roll": 0.002184700919315219,
                        "pitch": -0.017123283818364143,
                        "yaw": 90.13394927978516
                    }
                },
                "velocity": {
                    "x": -0.01855253241956234,
                    "y": 8.016236305236816,
                    "z": -0.0016433524433523417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.24082428216934204,
        "expert_target_speed": 8.976130378090174,
        "target_point": [
            38.43987645999922,
            -0.7402900062074956
        ],
        "target_point_next": [
            89.43666135842378,
            -1.3201467802752231
        ]
    },
    "80": {
        "acceleration": [
            -0.11946052312850952,
            2.646636962890625,
            -0.010858345776796341
        ],
        "angular_velocity": [
            -0.13511572778224945,
            0.30294135212898254,
            0.1326770782470703
        ],
        "forward_vector": [
            -0.009564955718815327,
            0.9999358057975769,
            0.006074033211916685
        ],
        "right_vector": [
            -0.9999540448188782,
            -0.009560740552842617,
            -0.0007225879817269742
        ],
        "location": [
            983.677734375,
            5154.267578125,
            371.6215515136719
        ],
        "rotation": [
            0.04140200838446617,
            0.348018616437912,
            90.54804992675781
        ],
        "velocity": [
            -0.09120041877031326,
            9.396469116210938,
            0.002174711087718606
        ],
        "speed": 9.396911693119705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.059907913208008,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.8638916015625,
                5175.32666015625,
                371.6307678222656
            ],
            "velocity": [
                -0.017451873049139977,
                7.645524501800537,
                0.0021552753169089556
            ],
            "speed_kmh": 27.52396100499512,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8643798828125,
                        "y": 5229.7861328125,
                        "z": 371.7405700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02343437820672989,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.083489418029785,
                "transform": {
                    "location": {
                        "x": 987.03515625,
                        "y": 5188.59326171875,
                        "z": 371.6293029785156
                    },
                    "rotation": {
                        "roll": 0.0020480400417000055,
                        "pitch": 0.042408641427755356,
                        "yaw": -89.8548583984375
                    }
                },
                "velocity": {
                    "x": 0.020291166380047798,
                    "y": -8.083463668823242,
                    "z": 0.0015834998339414597
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.383013725280762,
                "transform": {
                    "location": {
                        "x": 983.9776611328125,
                        "y": 5120.78173828125,
                        "z": 371.60845947265625
                    },
                    "rotation": {
                        "roll": 0.0026772802229970694,
                        "pitch": 0.2191261202096939,
                        "yaw": 90.33827209472656
                    }
                },
                "velocity": {
                    "x": -0.02675057388842106,
                    "y": 5.382944107055664,
                    "z": 0.005756263621151447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0632905960083,
                "transform": {
                    "location": {
                        "x": 983.9473266601562,
                        "y": 5136.5634765625,
                        "z": 371.6138610839844
                    },
                    "rotation": {
                        "roll": 0.010966943576931953,
                        "pitch": 0.6103525161743164,
                        "yaw": 90.28409576416016
                    }
                },
                "velocity": {
                    "x": -0.03587793558835983,
                    "y": 8.063210487365723,
                    "z": 0.002115917159244418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.645544528961182,
                "transform": {
                    "location": {
                        "x": 983.8638916015625,
                        "y": 5175.32666015625,
                        "z": 371.6307678222656
                    },
                    "rotation": {
                        "roll": 0.0019943001680076122,
                        "pitch": -0.014712226577103138,
                        "yaw": 90.12371826171875
                    }
                },
                "velocity": {
                    "x": -0.017451873049139977,
                    "y": 7.645524501800537,
                    "z": 0.0021552753169089556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035370826721191,
                "transform": {
                    "location": {
                        "x": 983.8351440429688,
                        "y": 5191.3447265625,
                        "z": 371.6340637207031
                    },
                    "rotation": {
                        "roll": 0.0011648456566035748,
                        "pitch": -0.009855962358415127,
                        "yaw": 90.14208221435547
                    }
                },
                "velocity": {
                    "x": -0.016998469829559326,
                    "y": 8.03535270690918,
                    "z": -0.00186297413893044
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.46232300996780396,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.24714228510856628,
        "expert_target_speed": 9.421027047974503,
        "target_point": [
            36.17557632398749,
            -0.6029035103489051
        ],
        "target_point_next": [
            87.17411602300149,
            -0.9994541662662577
        ]
    },
    "85": {
        "acceleration": [
            -0.09729579091072083,
            1.1594009399414062,
            -0.0035099033266305923
        ],
        "angular_velocity": [
            -0.4500102400779724,
            0.11550572514533997,
            0.36604103446006775
        ],
        "forward_vector": [
            -0.01123921200633049,
            0.9999257922172546,
            0.004695040639489889
        ],
        "right_vector": [
            -0.9999368190765381,
            -0.01123952865600586,
            4.101218291907571e-05
        ],
        "location": [
            983.6513061523438,
            5156.6796875,
            371.6224060058594
        ],
        "rotation": [
            -0.00234985095448792,
            0.26900699734687805,
            90.64398193359375
        ],
        "velocity": [
            -0.11683628708124161,
            9.824997901916504,
            0.0019645309075713158
        ],
        "speed": 9.825692570533775,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.565998077392578,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.8595581054688,
                5177.24462890625,
                371.63128662109375
            ],
            "velocity": [
                -0.016833774745464325,
                7.787464618682861,
                0.0022763824090361595
            ],
            "speed_kmh": 28.03493932465057,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8680419921875,
                        "y": 5227.70751953125,
                        "z": 371.6288146972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02093452773988247,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.08215618133545,
                "transform": {
                    "location": {
                        "x": 987.0400390625,
                        "y": 5186.556640625,
                        "z": 371.6293640136719
                    },
                    "rotation": {
                        "roll": 0.00359478616155684,
                        "pitch": 0.03542818874120712,
                        "yaw": -89.86448669433594
                    }
                },
                "velocity": {
                    "x": 0.017517419531941414,
                    "y": -8.082137107849121,
                    "z": 0.0011324596125632524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.001321792602539,
                "transform": {
                    "location": {
                        "x": 983.9710693359375,
                        "y": 5122.15380859375,
                        "z": 371.60955810546875
                    },
                    "rotation": {
                        "roll": 0.0024291006848216057,
                        "pitch": 0.14828339219093323,
                        "yaw": 90.24720764160156
                    }
                },
                "velocity": {
                    "x": -0.026836149394512177,
                    "y": 6.001258850097656,
                    "z": 0.00593596464022994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.486462593078613,
                "transform": {
                    "location": {
                        "x": 983.9378051757812,
                        "y": 5138.72265625,
                        "z": 371.61468505859375
                    },
                    "rotation": {
                        "roll": 0.005760851316154003,
                        "pitch": 0.6412112712860107,
                        "yaw": 90.25202941894531
                    }
                },
                "velocity": {
                    "x": -0.04142254590988159,
                    "y": 9.486371040344238,
                    "z": 0.004377155099064112
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.787482738494873,
                "transform": {
                    "location": {
                        "x": 983.8595581054688,
                        "y": 5177.24462890625,
                        "z": 371.63128662109375
                    },
                    "rotation": {
                        "roll": 0.00045280688209459186,
                        "pitch": 0.02336607500910759,
                        "yaw": 90.14317321777344
                    }
                },
                "velocity": {
                    "x": -0.016833774745464325,
                    "y": 7.787464618682861,
                    "z": 0.0022763824090361595
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.054141998291016,
                "transform": {
                    "location": {
                        "x": 983.8307495117188,
                        "y": 5193.3583984375,
                        "z": 371.633544921875
                    },
                    "rotation": {
                        "roll": 0.0014111647615209222,
                        "pitch": -0.010532150976359844,
                        "yaw": 90.11343383789062
                    }
                },
                "velocity": {
                    "x": -0.016525033861398697,
                    "y": 8.05412483215332,
                    "z": -0.0028228950686752796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.323310524225235,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25677168369293213,
        "expert_target_speed": 9.677881488000029,
        "target_point": [
            33.762262520889884,
            -0.6627742105060839
        ],
        "target_point_next": [
            84.76006708377372,
            -1.1446804467371363
        ]
    },
    "90": {
        "acceleration": [
            0.14286771416664124,
            0.5373001098632812,
            -0.010451126843690872
        ],
        "angular_velocity": [
            -0.360702246427536,
            -0.1518743485212326,
            -0.022674385458230972
        ],
        "forward_vector": [
            -0.012968402355909348,
            0.9999114871025085,
            0.0029783202335238457
        ],
        "right_vector": [
            -0.9999158978462219,
            -0.012968766503036022,
            0.0001033301159623079
        ],
        "location": [
            983.6200561523438,
            5159.1650390625,
            371.6233215332031
        ],
        "rotation": [
            -0.005920405965298414,
            0.17064543068408966,
            90.74305725097656
        ],
        "velocity": [
            -0.1238202378153801,
            10.031874656677246,
            0.0018013095250353217
        ],
        "speed": 10.03263876448145,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.56423950195312,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.978803634643555,
                "transform": {
                    "location": {
                        "x": 986.8789672851562,
                        "y": 5225.6708984375,
                        "z": 371.6261901855469
                    },
                    "rotation": {
                        "roll": 0.01951673999428749,
                        "pitch": 0.04968279227614403,
                        "yaw": -89.644287109375
                    }
                },
                "velocity": {
                    "x": 0.10279982537031174,
                    "y": -7.978139877319336,
                    "z": -0.004727983381599188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.947476387023926,
                "transform": {
                    "location": {
                        "x": 987.04443359375,
                        "y": 5184.5625,
                        "z": 371.6296081542969
                    },
                    "rotation": {
                        "roll": 0.001302008400671184,
                        "pitch": -0.04068060591816902,
                        "yaw": -89.87553405761719
                    }
                },
                "velocity": {
                    "x": 0.017227431759238243,
                    "y": -7.947457313537598,
                    "z": -0.0018442153232172132
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.811664581298828,
                "transform": {
                    "location": {
                        "x": 983.9639892578125,
                        "y": 5123.947265625,
                        "z": 371.6111145019531
                    },
                    "rotation": {
                        "roll": 0.004082033410668373,
                        "pitch": 0.27927958965301514,
                        "yaw": 90.20884704589844
                    }
                },
                "velocity": {
                    "x": -0.027182910591363907,
                    "y": 7.811614990234375,
                    "z": 0.005839424207806587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.826773643493652,
                "transform": {
                    "location": {
                        "x": 983.9292602539062,
                        "y": 5141.1708984375,
                        "z": 371.61669921875
                    },
                    "rotation": {
                        "roll": 0.012297091074287891,
                        "pitch": 0.41505008935928345,
                        "yaw": 90.1862564086914
                    }
                },
                "velocity": {
                    "x": -0.029704555869102478,
                    "y": 9.826726913452148,
                    "z": 0.005354204215109348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.870338439941406,
                "transform": {
                    "location": {
                        "x": 983.8387451171875,
                        "y": 5243.93994140625,
                        "z": 371.7994384765625
                    },
                    "rotation": {
                        "roll": 0.000534720835275948,
                        "pitch": -0.03867252916097641,
                        "yaw": 90.26505279541016
                    }
                },
                "velocity": {
                    "x": -0.016979286447167397,
                    "y": 7.855197429656982,
                    "z": -0.487661212682724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043575286865234,
                "transform": {
                    "location": {
                        "x": 983.8101196289062,
                        "y": 5260.0986328125,
                        "z": 371.7892761230469
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": -0.040100038051605225,
                        "yaw": 89.97542572021484
                    }
                },
                "velocity": {
                    "x": -0.015554148703813553,
                    "y": 8.028515815734863,
                    "z": -0.49171605706214905
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.3279518783092499,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27117809653282166,
        "expert_target_speed": 10.0,
        "target_point": [
            31.27551502134179,
            -0.7203157744550401
        ],
        "target_point_next": [
            82.27240755177256,
            -1.2906280523423095
        ]
    },
    "95": {
        "acceleration": [
            0.5693920254707336,
            -1.571044921875,
            0.006860541179776192
        ],
        "angular_velocity": [
            -0.7071996927261353,
            -0.47606128454208374,
            -3.025101900100708
        ],
        "forward_vector": [
            -0.006007558666169643,
            0.9999817609786987,
            0.0005512236966751516
        ],
        "right_vector": [
            -0.9999808073043823,
            -0.006006721872836351,
            -0.0015067881904542446
        ],
        "location": [
            983.5999145507812,
            5161.65771484375,
            371.6244201660156
        ],
        "rotation": [
            0.08633264899253845,
            0.0315827913582325,
            90.34420776367188
        ],
        "velocity": [
            -0.019980071112513542,
            9.84193229675293,
            0.0022910593543201685
        ],
        "speed": 9.841952577467037,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.072265625,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026264190673828,
                "transform": {
                    "location": {
                        "x": 986.9046020507812,
                        "y": 5223.67041015625,
                        "z": 371.62640380859375
                    },
                    "rotation": {
                        "roll": 0.00727006746456027,
                        "pitch": 0.0256815105676651,
                        "yaw": -89.2990951538086
                    }
                },
                "velocity": {
                    "x": 0.11960337311029434,
                    "y": -8.025373458862305,
                    "z": 0.0019214915810152888
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.076562881469727,
                "transform": {
                    "location": {
                        "x": 987.0486450195312,
                        "y": 5182.5576171875,
                        "z": 371.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0012317619984969497,
                        "pitch": 0.016276339069008827,
                        "yaw": -89.87899017333984
                    }
                },
                "velocity": {
                    "x": 0.016902612522244453,
                    "y": -8.076544761657715,
                    "z": -0.002040205057710409
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.982319831848145,
                "transform": {
                    "location": {
                        "x": 983.9569091796875,
                        "y": 5126.048828125,
                        "z": 371.61273193359375
                    },
                    "rotation": {
                        "roll": 0.0017864699475467205,
                        "pitch": 0.23794329166412354,
                        "yaw": 90.20390319824219
                    }
                },
                "velocity": {
                    "x": -0.029668238013982773,
                    "y": 8.982269287109375,
                    "z": 0.005280923563987017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.64366626739502,
                "transform": {
                    "location": {
                        "x": 983.9220581054688,
                        "y": 5143.59814453125,
                        "z": 371.6190185546875
                    },
                    "rotation": {
                        "roll": 0.006530859041959047,
                        "pitch": 0.10546494275331497,
                        "yaw": 90.1610336303711
                    }
                },
                "velocity": {
                    "x": -0.02717725932598114,
                    "y": 9.64362621307373,
                    "z": 0.005322971381247044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.6272082924842834,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2659006714820862,
        "expert_target_speed": 9.891102420482971,
        "target_point": [
            28.787018766833047,
            -0.5078000600572552
        ],
        "target_point_next": [
            79.78664533715019,
            -0.7231916634599498
        ]
    },
    "100": {
        "acceleration": [
            0.40961265563964844,
            -3.1124114990234375,
            0.0030584330670535564
        ],
        "angular_velocity": [
            -0.7131444811820984,
            -0.05964044854044914,
            -2.707160234451294
        ],
        "forward_vector": [
            0.007742376532405615,
            0.999966561794281,
            -0.002622005296871066
        ],
        "right_vector": [
            -0.9999667406082153,
            0.007735617458820343,
            -0.0025782729499042034
        ],
        "location": [
            983.6098022460938,
            5164.04248046875,
            371.6255798339844
        ],
        "rotation": [
            0.14772482216358185,
            -0.15023000538349152,
            89.55638885498047
        ],
        "velocity": [
            0.10603425651788712,
            9.20959186553955,
            0.0019409083761274815
        ],
        "speed": 9.210202255833885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.689247131347656,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.93772029876709,
                "transform": {
                    "location": {
                        "x": 986.9268798828125,
                        "y": 5221.67529296875,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.006286620628088713,
                        "pitch": 0.022403018549084663,
                        "yaw": -89.37896728515625
                    }
                },
                "velocity": {
                    "x": 0.06808161735534668,
                    "y": -7.937427997589111,
                    "z": 0.0018516540294513106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02500057220459,
                "transform": {
                    "location": {
                        "x": 987.0527954101562,
                        "y": 5180.54248046875,
                        "z": 371.628662109375
                    },
                    "rotation": {
                        "roll": 0.0020065486896783113,
                        "pitch": -0.014070188626646996,
                        "yaw": -89.8846664428711
                    }
                },
                "velocity": {
                    "x": 0.01501754205673933,
                    "y": -8.024985313415527,
                    "z": -0.0021480368450284004
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.558225631713867,
                "transform": {
                    "location": {
                        "x": 983.9498291015625,
                        "y": 5128.40869140625,
                        "z": 371.61419677734375
                    },
                    "rotation": {
                        "roll": 0.002629105467349291,
                        "pitch": 0.15711483359336853,
                        "yaw": 90.15877532958984
                    }
                },
                "velocity": {
                    "x": -0.027379125356674194,
                    "y": 9.558184623718262,
                    "z": 0.0062318420968949795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.48538875579834,
                "transform": {
                    "location": {
                        "x": 983.9160766601562,
                        "y": 5145.9912109375,
                        "z": 371.6203308105469
                    },
                    "rotation": {
                        "roll": 0.0046750884503126144,
                        "pitch": 0.003824905725196004,
                        "yaw": 90.13992309570312
                    }
                },
                "velocity": {
                    "x": -0.023149125277996063,
                    "y": 9.485360145568848,
                    "z": 0.004122724290937185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.229159876704216,
        "expert_target_speed": 9.47924134119106,
        "target_point": [
            26.406509283873554,
            -0.12041673204891015
        ],
        "target_point_next": [
            77.40427463797492,
            0.36562106754321844
        ]
    },
    "105": {
        "acceleration": [
            0.3220921754837036,
            -3.4604263305664062,
            0.009054183028638363
        ],
        "angular_velocity": [
            -0.35254520177841187,
            0.027531150728464127,
            -2.8669614791870117
        ],
        "forward_vector": [
            0.01951601356267929,
            0.9997971057891846,
            -0.004986980464309454
        ],
        "right_vector": [
            -0.99980628490448,
            0.019503004848957062,
            -0.0026439502835273743
        ],
        "location": [
            983.6461791992188,
            5166.23486328125,
            371.6265563964844
        ],
        "rotation": [
            0.1514892429113388,
            -0.2857341170310974,
            88.88172912597656
        ],
        "velocity": [
            0.19696341454982758,
            8.36228084564209,
            0.001929550082422793
        ],
        "speed": 8.364600141552716,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.499603271484375,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.985276699066162,
                "transform": {
                    "location": {
                        "x": 986.9442138671875,
                        "y": 5219.68505859375,
                        "z": 371.6279296875
                    },
                    "rotation": {
                        "roll": -0.0015563968336209655,
                        "pitch": 0.02045641466975212,
                        "yaw": -89.48969268798828
                    }
                },
                "velocity": {
                    "x": 0.06472717225551605,
                    "y": -7.985013961791992,
                    "z": 0.0022192574106156826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.005523681640625,
                "transform": {
                    "location": {
                        "x": 987.0567626953125,
                        "y": 5178.54248046875,
                        "z": 371.6282653808594
                    },
                    "rotation": {
                        "roll": 0.0004403054481372237,
                        "pitch": -0.019076718017458916,
                        "yaw": -89.88738250732422
                    }
                },
                "velocity": {
                    "x": 0.01576121337711811,
                    "y": -8.005507469177246,
                    "z": -0.0019757174886763096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.488812446594238,
                "transform": {
                    "location": {
                        "x": 983.9437866210938,
                        "y": 5130.6826171875,
                        "z": 371.6154479980469
                    },
                    "rotation": {
                        "roll": 0.0017423861427232623,
                        "pitch": -0.060426678508520126,
                        "yaw": 90.15483856201172
                    }
                },
                "velocity": {
                    "x": -0.0212615467607975,
                    "y": 8.488784790039062,
                    "z": 0.005781097337603569
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.072916030883789,
                "transform": {
                    "location": {
                        "x": 983.9111328125,
                        "y": 5148.1435546875,
                        "z": 371.62237548828125
                    },
                    "rotation": {
                        "roll": 0.0031819429714232683,
                        "pitch": -0.35839366912841797,
                        "yaw": 90.12980651855469
                    }
                },
                "velocity": {
                    "x": -0.01824316196143627,
                    "y": 8.072895050048828,
                    "z": 0.0019106578547507524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.1981584131717682,
        "expert_target_speed": 8.88436323839728,
        "target_point": [
            24.21342174555169,
            0.18405022353356887
        ],
        "target_point_next": [
            75.20193105464315,
            1.2704305857032345
        ]
    },
    "110": {
        "acceleration": [
            0.09510576725006104,
            -3.2865238189697266,
            0.004090308211743832
        ],
        "angular_velocity": [
            -0.0757792741060257,
            0.19425183534622192,
            -1.5425575971603394
        ],
        "forward_vector": [
            0.02949601039290428,
            0.9995476603507996,
            -0.005869593005627394
        ],
        "right_vector": [
            -0.9995627403259277,
            0.0294833742082119,
            -0.0022277256939560175
        ],
        "location": [
            983.7012329101562,
            5168.21435546875,
            371.6272277832031
        ],
        "rotation": [
            0.12764158844947815,
            -0.33630484342575073,
            88.30973052978516
        ],
        "velocity": [
            0.25085437297821045,
            7.520687580108643,
            0.002136402064934373
        ],
        "speed": 7.524870071572178,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.523651123046875,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.369017601013184,
                "transform": {
                    "location": {
                        "x": 986.9584350585938,
                        "y": 5217.91259765625,
                        "z": 371.62738037109375
                    },
                    "rotation": {
                        "roll": -0.003082280745729804,
                        "pitch": 0.1543964147567749,
                        "yaw": -89.54203033447266
                    }
                },
                "velocity": {
                    "x": 0.035034555941820145,
                    "y": -6.368920803070068,
                    "z": 0.0019283770816400647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.055696487426758,
                "transform": {
                    "location": {
                        "x": 987.0606079101562,
                        "y": 5176.5322265625,
                        "z": 371.6277160644531
                    },
                    "rotation": {
                        "roll": 0.00026837788755074143,
                        "pitch": -0.0017690189415588975,
                        "yaw": -89.89105224609375
                    }
                },
                "velocity": {
                    "x": 0.015290440991520882,
                    "y": -8.055681228637695,
                    "z": -0.002066917484626174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.3916215896606445,
                "transform": {
                    "location": {
                        "x": 983.9393310546875,
                        "y": 5132.642578125,
                        "z": 371.61669921875
                    },
                    "rotation": {
                        "roll": 0.0013836697908118367,
                        "pitch": -0.11797785013914108,
                        "yaw": 90.10746002197266
                    }
                },
                "velocity": {
                    "x": -0.015604732558131218,
                    "y": 7.391602516174316,
                    "z": 0.005840491969138384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.109621047973633,
                "transform": {
                    "location": {
                        "x": 983.906982421875,
                        "y": 5150.1357421875,
                        "z": 371.6222229003906
                    },
                    "rotation": {
                        "roll": 0.0034931201953440905,
                        "pitch": -0.15182143449783325,
                        "yaw": 90.11425018310547
                    }
                },
                "velocity": {
                    "x": -0.016017377376556396,
                    "y": 8.109604835510254,
                    "z": 0.00237102503888309
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.15070515871047974,
        "expert_target_speed": 8.245722662231294,
        "target_point": [
            22.2301225499132,
            0.42243195558351115
        ],
        "target_point_next": [
            73.20524395837718,
            2.0178319828403573
        ]
    },
    "115": {
        "acceleration": [
            -0.13545304536819458,
            -2.8549671173095703,
            0.003908728249371052
        ],
        "angular_velocity": [
            0.1224784404039383,
            0.24492688477039337,
            -0.612017810344696
        ],
        "forward_vector": [
            0.03375459834933281,
            0.9994133114814758,
            -0.005800929386168718
        ],
        "right_vector": [
            -0.9994298219680786,
            0.033749453723430634,
            -0.0009821966523304582
        ],
        "location": [
            983.7606811523438,
            5169.99365234375,
            371.6275634765625
        ],
        "rotation": [
            0.056276679039001465,
            -0.3323706388473511,
            88.06560516357422
        ],
        "velocity": [
            0.23149272799491882,
            6.760376453399658,
            0.0019304179586470127
        ],
        "speed": 6.764338746307363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.74821853637695,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.289746284484863,
                "transform": {
                    "location": {
                        "x": 986.9669189453125,
                        "y": 5216.35498046875,
                        "z": 371.6287841796875
                    },
                    "rotation": {
                        "roll": -0.0018920913571491838,
                        "pitch": 0.04683460295200348,
                        "yaw": -89.6498031616211
                    }
                },
                "velocity": {
                    "x": 0.029660440981388092,
                    "y": -6.289675712585449,
                    "z": 0.001406545634381473
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007569313049316,
                "transform": {
                    "location": {
                        "x": 987.0641479492188,
                        "y": 5174.52490234375,
                        "z": 371.6272888183594
                    },
                    "rotation": {
                        "roll": 0.0015861931024119258,
                        "pitch": -0.016815925016999245,
                        "yaw": -89.90044403076172
                    }
                },
                "velocity": {
                    "x": 0.012804544530808926,
                    "y": -8.007558822631836,
                    "z": -0.002082653110846877
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.615232944488525,
                "transform": {
                    "location": {
                        "x": 983.935546875,
                        "y": 5134.48974609375,
                        "z": 371.6180725097656
                    },
                    "rotation": {
                        "roll": 0.0008369582938030362,
                        "pitch": 0.0205998495221138,
                        "yaw": 90.13336944580078
                    }
                },
                "velocity": {
                    "x": -0.015125335194170475,
                    "y": 7.61521577835083,
                    "z": 0.005596380215138197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.262161254882812,
                "transform": {
                    "location": {
                        "x": 983.9028930664062,
                        "y": 5152.23046875,
                        "z": 371.6221923828125
                    },
                    "rotation": {
                        "roll": 0.0011051284382119775,
                        "pitch": 0.03351573646068573,
                        "yaw": 90.11304473876953
                    }
                },
                "velocity": {
                    "x": -0.01626209355890751,
                    "y": 8.262145042419434,
                    "z": 0.0022653769701719284
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.12169884890317917,
        "expert_target_speed": 7.628800949417127,
        "target_point": [
            20.447831038946994,
            0.516509409335075
        ],
        "target_point_next": [
            71.41569125123861,
            2.3291122988055526
        ]
    },
    "120": {
        "acceleration": [
            -0.1189345121383667,
            -0.032558441162109375,
            0.006339643150568008
        ],
        "angular_velocity": [
            0.8212236166000366,
            0.11404306441545486,
            0.8360188007354736
        ],
        "forward_vector": [
            0.03265153244137764,
            0.9994556903839111,
            -0.004710061009973288
        ],
        "right_vector": [
            -0.9994667768478394,
            0.032651450484991074,
            -9.446357580600306e-05
        ],
        "location": [
            983.8131713867188,
            5171.603515625,
            371.6277160644531
        ],
        "rotation": [
            0.005412424448877573,
            -0.26986759901046753,
            88.12885284423828
        ],
        "velocity": [
            0.195111945271492,
            6.2682414054870605,
            0.0023257159627974033
        ],
        "speed": 6.271277301208265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.14207458496094,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9609527587890625,
                "transform": {
                    "location": {
                        "x": 986.9752197265625,
                        "y": 5214.67822265625,
                        "z": 371.62994384765625
                    },
                    "rotation": {
                        "roll": -0.0012817376991733909,
                        "pitch": -0.02820185013115406,
                        "yaw": -89.71539306640625
                    }
                },
                "velocity": {
                    "x": 0.03135522082448006,
                    "y": -6.96088171005249,
                    "z": 0.0017234515398740768
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03884220123291,
                "transform": {
                    "location": {
                        "x": 987.0675659179688,
                        "y": 5172.51953125,
                        "z": 371.6268615722656
                    },
                    "rotation": {
                        "roll": -0.00018310525047127157,
                        "pitch": -0.01010184921324253,
                        "yaw": -89.90264129638672
                    }
                },
                "velocity": {
                    "x": 0.01360682025551796,
                    "y": -8.038829803466797,
                    "z": -0.0021091459784656763
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.453096389770508,
                "transform": {
                    "location": {
                        "x": 983.9313354492188,
                        "y": 5136.51904296875,
                        "z": 371.61932373046875
                    },
                    "rotation": {
                        "roll": 0.0008553432999178767,
                        "pitch": 0.13098935782909393,
                        "yaw": 90.1058349609375
                    }
                },
                "velocity": {
                    "x": -0.016813110560178757,
                    "y": 8.453078269958496,
                    "z": 0.00486802076920867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.129483222961426,
                "transform": {
                    "location": {
                        "x": 983.8991088867188,
                        "y": 5154.14599609375,
                        "z": 371.6238708496094
                    },
                    "rotation": {
                        "roll": 0.00027498515555635095,
                        "pitch": -0.28296107053756714,
                        "yaw": 90.11219787597656
                    }
                },
                "velocity": {
                    "x": -0.013950256630778313,
                    "y": 7.129469394683838,
                    "z": 0.002084932290017605
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.06843077391386032,
        "expert_target_speed": 7.210803936883437,
        "target_point": [
            18.837669136564177,
            0.493865281558879
        ],
        "target_point_next": [
            69.80749625630618,
            2.2502898424859845
        ]
    },
    "125": {
        "acceleration": [
            -0.2216683328151703,
            -3.964405059814453,
            0.007833290845155716
        ],
        "angular_velocity": [
            -0.30839887261390686,
            0.17904895544052124,
            -2.6255531311035156
        ],
        "forward_vector": [
            0.028429385274648666,
            0.9995683431625366,
            -0.007406166754662991
        ],
        "right_vector": [
            -0.9995954632759094,
            0.028434479609131813,
            0.0005837483331561089
        ],
        "location": [
            983.8518676757812,
            5173.00439453125,
            371.6286315917969
        ],
        "rotation": [
            -0.03344723582267761,
            -0.4243459701538086,
            88.370849609375
        ],
        "velocity": [
            0.11664613336324692,
            4.986244201660156,
            0.0020746993832290173
        ],
        "speed": 4.987608400728562,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.74434280395508,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.487385749816895,
                "transform": {
                    "location": {
                        "x": 986.9841918945312,
                        "y": 5212.69091796875,
                        "z": 371.6313171386719
                    },
                    "rotation": {
                        "roll": -0.0021362262777984142,
                        "pitch": -0.11880430579185486,
                        "yaw": -89.74193572998047
                    }
                },
                "velocity": {
                    "x": 0.02967396192252636,
                    "y": -8.487333297729492,
                    "z": 0.002447795821353793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02326774597168,
                "transform": {
                    "location": {
                        "x": 987.0708618164062,
                        "y": 5170.51123046875,
                        "z": 371.6264343261719
                    },
                    "rotation": {
                        "roll": 0.0003744885325431824,
                        "pitch": -0.009275396354496479,
                        "yaw": -89.90609741210938
                    }
                },
                "velocity": {
                    "x": 0.013143503107130527,
                    "y": -8.023256301879883,
                    "z": -0.0019191073952242732
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.536552429199219,
                "transform": {
                    "location": {
                        "x": 983.92724609375,
                        "y": 5138.5322265625,
                        "z": 371.6201171875
                    },
                    "rotation": {
                        "roll": 0.00012560815957840532,
                        "pitch": -0.05173185095191002,
                        "yaw": 90.1322021484375
                    }
                },
                "velocity": {
                    "x": -0.014908741228282452,
                    "y": 7.536536693572998,
                    "z": 0.00421562185510993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.14558744430542,
                "transform": {
                    "location": {
                        "x": 983.8977661132812,
                        "y": 5155.578125,
                        "z": 371.6264343261719
                    },
                    "rotation": {
                        "roll": 0.010756094008684158,
                        "pitch": -0.9336526393890381,
                        "yaw": 90.29863739013672
                    }
                },
                "velocity": {
                    "x": -0.0024107566569000483,
                    "y": 4.1455864906311035,
                    "z": -0.0011807250557467341
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.045582473278045654,
        "expert_target_speed": 6.066724942573892,
        "target_point": [
            17.438175686522765,
            0.41308673573544136
        ],
        "target_point_next": [
            68.41497208774224,
            1.9540385595226246
        ]
    },
    "130": {
        "acceleration": [
            -0.04068031907081604,
            -2.5561141967773438,
            0.009308434091508389
        ],
        "angular_velocity": [
            0.4656166434288025,
            -0.09106431156396866,
            0.1989612579345703
        ],
        "forward_vector": [
            0.02493690326809883,
            0.9996601343154907,
            -0.007597372867166996
        ],
        "right_vector": [
            -0.9996888637542725,
            0.02493988908827305,
            0.00029879785142838955
        ],
        "location": [
            983.876708984375,
            5174.10400390625,
            371.6285705566406
        ],
        "rotation": [
            -0.017120350152254105,
            -0.43530160188674927,
            88.57102966308594
        ],
        "velocity": [
            0.08729216456413269,
            4.010786533355713,
            0.0016939830966293812
        ],
        "speed": 4.011736349530191,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.6470832824707,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8246459960938,
                        "y": 5252.0078125,
                        "z": 371.79998779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03357037901878357,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067891120910645,
                "transform": {
                    "location": {
                        "x": 986.9912109375,
                        "y": 5210.61474609375,
                        "z": 371.63079833984375
                    },
                    "rotation": {
                        "roll": -0.0010681143030524254,
                        "pitch": 0.03351573646068573,
                        "yaw": -89.80180358886719
                    }
                },
                "velocity": {
                    "x": 0.02412162721157074,
                    "y": -8.067854881286621,
                    "z": 0.002229299396276474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031355857849121,
                "transform": {
                    "location": {
                        "x": 987.0740966796875,
                        "y": 5168.50439453125,
                        "z": 371.6259765625
                    },
                    "rotation": {
                        "roll": 7.147518772399053e-05,
                        "pitch": -0.01272464171051979,
                        "yaw": -89.90625
                    }
                },
                "velocity": {
                    "x": 0.013075480237603188,
                    "y": -8.031344413757324,
                    "z": -0.0020356273744255304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.731928825378418,
                "transform": {
                    "location": {
                        "x": 983.9241943359375,
                        "y": 5140.23291015625,
                        "z": 371.6207580566406
                    },
                    "rotation": {
                        "roll": 0.0003319134993944317,
                        "pitch": -0.21590909361839294,
                        "yaw": 90.09357452392578
                    }
                },
                "velocity": {
                    "x": -0.009927134029567242,
                    "y": 5.731919288635254,
                    "z": 0.002779188100248575
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.899799346923828,
                "transform": {
                    "location": {
                        "x": 983.8951416015625,
                        "y": 5156.69091796875,
                        "z": 371.62420654296875
                    },
                    "rotation": {
                        "roll": -0.0004577756335493177,
                        "pitch": -0.2994081676006317,
                        "yaw": 90.2258071899414
                    }
                },
                "velocity": {
                    "x": -0.011181576177477837,
                    "y": 4.899786472320557,
                    "z": 0.0016882704803720117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1561870276927948,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6460876464844
                    },
                    "rotation": {
                        "roll": 1.1179099601577036e-05,
                        "pitch": -0.03351573646068573,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -1.6069276171037927e-05,
                    "y": -0.00013170597958378494,
                    "z": -0.15618696808815002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.030054621398448944,
        "expert_target_speed": 5.151424930057191,
        "target_point": [
            16.339624680034962,
            0.349615499722066
        ],
        "target_point_next": [
            67.32149012679808,
            1.7125899759159353
        ]
    },
    "135": {
        "acceleration": [
            -0.003733038902282715,
            0.4800605773925781,
            -0.010910606943070889
        ],
        "angular_velocity": [
            1.0570495128631592,
            -0.02471875213086605,
            0.7022441625595093
        ],
        "forward_vector": [
            0.02352559007704258,
            0.9997158050537109,
            -0.0038658282719552517
        ],
        "right_vector": [
            -0.9997232556343079,
            0.023526176810264587,
            0.00010652548371581361
        ],
        "location": [
            983.8984375,
            5175.07177734375,
            371.6280822753906
        ],
        "rotation": [
            -0.006103506311774254,
            -0.22149619460105896,
            88.65194702148438
        ],
        "velocity": [
            0.083381786942482,
            3.8493919372558594,
            0.0015149307437241077
        ],
        "speed": 3.85029489896607,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.68146896362305,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8283081054688,
                        "y": 5249.9267578125,
                        "z": 371.68951416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03357037901878357,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8646697998046875,
                "transform": {
                    "location": {
                        "x": 986.997314453125,
                        "y": 5208.6416015625,
                        "z": 371.6314392089844
                    },
                    "rotation": {
                        "roll": 0.0005037298542447388,
                        "pitch": 0.037115246057510376,
                        "yaw": -89.82284545898438
                    }
                },
                "velocity": {
                    "x": 0.022106656804680824,
                    "y": -7.864638328552246,
                    "z": 0.002089385874569416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023833274841309,
                "transform": {
                    "location": {
                        "x": 987.07763671875,
                        "y": 5166.49755859375,
                        "z": 371.62554931640625
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": -0.010040377266705036,
                        "yaw": -89.89897918701172
                    }
                },
                "velocity": {
                    "x": 0.014252063818275928,
                    "y": -8.023819923400879,
                    "z": -0.0020727061200886965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.470273733139038,
                "transform": {
                    "location": {
                        "x": 983.9223022460938,
                        "y": 5141.18701171875,
                        "z": 371.6208190917969
                    },
                    "rotation": {
                        "roll": -0.0009765558643266559,
                        "pitch": -0.2870728373527527,
                        "yaw": 90.22567749023438
                    }
                },
                "velocity": {
                    "x": -0.00876923743635416,
                    "y": 3.470262050628662,
                    "z": 0.0015967845683917403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.303625106811523,
                "transform": {
                    "location": {
                        "x": 983.8920288085938,
                        "y": 5158.0078125,
                        "z": 371.6235046386719
                    },
                    "rotation": {
                        "roll": 0.0018098014406859875,
                        "pitch": 0.0715872123837471,
                        "yaw": 90.15693664550781
                    }
                },
                "velocity": {
                    "x": -0.010820690542459488,
                    "y": 5.303613662719727,
                    "z": 0.0017618751153349876
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0532938614487648,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.61962890625
                    },
                    "rotation": {
                        "roll": -0.0003967296506743878,
                        "pitch": -0.032313622534275055,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 3.523951454553753e-05,
                    "y": -8.897473890101537e-05,
                    "z": -0.053293775767087936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": -0.00737481564283371,
        "expert_target_speed": 4.996123438446129,
        "target_point": [
            15.372085254547777,
            0.32549843363487685
        ],
        "target_point_next": [
            66.35582428828666,
            1.6164895235450267
        ]
    },
    "140": {
        "acceleration": [
            0.03228500485420227,
            2.6665401458740234,
            -0.00047874636948108673
        ],
        "angular_velocity": [
            1.0417753458023071,
            -0.00998577568680048,
            0.22876130044460297
        ],
        "forward_vector": [
            0.022277846932411194,
            0.9997515678405762,
            0.0007021425990387797
        ],
        "right_vector": [
            -0.9997518062591553,
            0.02227776125073433,
            0.00013102749653626233
        ],
        "location": [
            983.919921875,
            5176.08251953125,
            371.6274108886719
        ],
        "rotation": [
            -0.007507324684411287,
            0.040229812264442444,
            88.72346496582031
        ],
        "velocity": [
            0.08774793148040771,
            4.291193008422852,
            0.0020188139751553535
        ],
        "speed": 4.292090066041981,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.67302322387695,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.83203125,
                        "y": 5247.845703125,
                        "z": 371.6226806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.031036376953125,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.145231246948242,
                "transform": {
                    "location": {
                        "x": 987.0025634765625,
                        "y": 5206.6328125,
                        "z": 371.63238525390625
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.0009835471864789724,
                        "yaw": -89.84984588623047
                    }
                },
                "velocity": {
                    "x": 0.019324352964758873,
                    "y": -8.145207405090332,
                    "z": 0.0022931955754756927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034378051757812,
                "transform": {
                    "location": {
                        "x": 987.0811767578125,
                        "y": 5164.490234375,
                        "z": 371.6251220703125
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": -0.011228830553591251,
                        "yaw": -89.89803314208984
                    }
                },
                "velocity": {
                    "x": 0.014291862957179546,
                    "y": -8.034364700317383,
                    "z": -0.0023606205359101295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.831284523010254,
                "transform": {
                    "location": {
                        "x": 983.9197998046875,
                        "y": 5142.23388671875,
                        "z": 371.6219787597656
                    },
                    "rotation": {
                        "roll": 0.000917188182938844,
                        "pitch": 0.11658449470996857,
                        "yaw": 90.17276000976562
                    }
                },
                "velocity": {
                    "x": -0.010810899548232555,
                    "y": 4.831271648406982,
                    "z": 0.002721452619880438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.707359790802002,
                "transform": {
                    "location": {
                        "x": 983.8890380859375,
                        "y": 5159.4873046875,
                        "z": 371.62255859375
                    },
                    "rotation": {
                        "roll": 0.002264836337417364,
                        "pitch": 0.3999621868133545,
                        "yaw": 90.12450408935547
                    }
                },
                "velocity": {
                    "x": -0.01259166095405817,
                    "y": 6.707347869873047,
                    "z": 0.002151222201064229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.008914323523640633,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6136779785156
                    },
                    "rotation": {
                        "roll": -6.10364877502434e-05,
                        "pitch": -0.03180135786533356,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.00033452874049544334,
                    "y": -1.0649663636286277e-05,
                    "z": -0.008908038027584553
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.01499965786933899,
        "expert_target_speed": 5.4157329893833,
        "target_point": [
            14.361509943117143,
            0.305255072938095
        ],
        "target_point_next": [
            65.34682204155234,
            1.5325505059014877
        ]
    },
    "145": {
        "acceleration": [
            0.06131172180175781,
            4.721479415893555,
            0.04883384332060814
        ],
        "angular_velocity": [
            1.033874273300171,
            -0.019153231754899025,
            0.345775306224823
        ],
        "forward_vector": [
            0.02077028714120388,
            0.999770998954773,
            0.005158043932169676
        ],
        "right_vector": [
            -0.9997842907905579,
            0.020769579336047173,
            0.00019067990069743246
        ],
        "location": [
            983.9436645507812,
            5177.27294921875,
            371.626953125
        ],
        "rotation": [
            -0.010925298556685448,
            0.29553544521331787,
            88.80985260009766
        ],
        "velocity": [
            0.1004236564040184,
            5.265537738800049,
            0.0042099663987755775
        ],
        "speed": 5.266495285243601,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.485355377197266,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.199237823486328,
                "transform": {
                    "location": {
                        "x": 986.83935546875,
                        "y": 5245.78466796875,
                        "z": 371.6173095703125
                    },
                    "rotation": {
                        "roll": -0.02334594540297985,
                        "pitch": 0.0008879245724529028,
                        "yaw": -89.73152923583984
                    }
                },
                "velocity": {
                    "x": 0.06546434760093689,
                    "y": -8.198927879333496,
                    "z": -0.028099283576011658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.989187717437744,
                "transform": {
                    "location": {
                        "x": 987.0072631835938,
                        "y": 5204.61474609375,
                        "z": 371.6328430175781
                    },
                    "rotation": {
                        "roll": -0.0009765628492459655,
                        "pitch": 0.02327045239508152,
                        "yaw": -89.86725616455078
                    }
                },
                "velocity": {
                    "x": 0.016823772341012955,
                    "y": -7.989169597625732,
                    "z": 0.0021102046594023705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020157814025879,
                "transform": {
                    "location": {
                        "x": 987.084716796875,
                        "y": 5162.4833984375,
                        "z": 371.6246337890625
                    },
                    "rotation": {
                        "roll": -0.0005187991773709655,
                        "pitch": -0.011843547224998474,
                        "yaw": -89.89806365966797
                    }
                },
                "velocity": {
                    "x": 0.014248283579945564,
                    "y": -8.020145416259766,
                    "z": -0.0017390060238540173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.653106212615967,
                "transform": {
                    "location": {
                        "x": 983.9171752929688,
                        "y": 5143.5595703125,
                        "z": 371.6228942871094
                    },
                    "rotation": {
                        "roll": 0.00034216404310427606,
                        "pitch": 0.133967325091362,
                        "yaw": 90.12409973144531
                    }
                },
                "velocity": {
                    "x": -0.01117272675037384,
                    "y": 5.65309476852417,
                    "z": 0.002253951970487833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.579230308532715,
                "transform": {
                    "location": {
                        "x": 983.885498046875,
                        "y": 5161.32666015625,
                        "z": 371.6226806640625
                    },
                    "rotation": {
                        "roll": 0.0005433917976915836,
                        "pitch": 0.47020384669303894,
                        "yaw": 90.11128234863281
                    }
                },
                "velocity": {
                    "x": -0.014604557305574417,
                    "y": 7.579216003417969,
                    "z": 0.0018915748223662376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001905042678117752,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.61285400390625
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.03182867914438248,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 5.950963168288581e-05,
                    "y": -2.4513153675798094e-06,
                    "z": -0.0019041113555431366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.038547366857528687,
        "expert_target_speed": 6.31795347811212,
        "target_point": [
            13.171288251191013,
            0.2825934815660422
        ],
        "target_point_next": [
            64.15839450701337,
            1.4329410429995608
        ]
    },
    "150": {
        "acceleration": [
            -0.032158344984054565,
            -0.45243263244628906,
            -0.0180116668343544
        ],
        "angular_velocity": [
            -0.7622665762901306,
            0.006068791262805462,
            0.36815857887268066
        ],
        "forward_vector": [
            0.01911700703203678,
            0.9998124241828918,
            0.003102059243246913
        ],
        "right_vector": [
            -0.9998172521591187,
            0.019116519019007683,
            0.00018748569709714502
        ],
        "location": [
            983.9684448242188,
            5178.60302734375,
            371.6277160644531
        ],
        "rotation": [
            -0.010742191225290298,
            0.17773517966270447,
            88.90460205078125
        ],
        "velocity": [
            0.09361305832862854,
            5.309743404388428,
            0.0012795638758689165
        ],
        "speed": 5.310568559498695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.158447265625,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9853739738464355,
                "transform": {
                    "location": {
                        "x": 986.8624267578125,
                        "y": 5243.76220703125,
                        "z": 371.61383056640625
                    },
                    "rotation": {
                        "roll": -0.02246093936264515,
                        "pitch": 0.01775166019797325,
                        "yaw": -89.2930679321289
                    }
                },
                "velocity": {
                    "x": 0.10729781538248062,
                    "y": -7.984652042388916,
                    "z": -0.004520158749073744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.043789863586426,
                "transform": {
                    "location": {
                        "x": 987.0115356445312,
                        "y": 5202.61376953125,
                        "z": 371.633544921875
                    },
                    "rotation": {
                        "roll": -0.0005187984206713736,
                        "pitch": 0.020094415172934532,
                        "yaw": -89.87606811523438
                    }
                },
                "velocity": {
                    "x": 0.017295537516474724,
                    "y": -8.043770790100098,
                    "z": 0.002542362082749605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036368370056152,
                "transform": {
                    "location": {
                        "x": 987.0883178710938,
                        "y": 5160.4765625,
                        "z": 371.6241760253906
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": -0.010347736068069935,
                        "yaw": -89.89794158935547
                    }
                },
                "velocity": {
                    "x": 0.014335161074995995,
                    "y": -8.036355018615723,
                    "z": -0.001963500864803791
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.72771692276001,
                "transform": {
                    "location": {
                        "x": 983.9141845703125,
                        "y": 5145.09521484375,
                        "z": 371.62347412109375
                    },
                    "rotation": {
                        "roll": -0.0017395034665241838,
                        "pitch": 0.15598101913928986,
                        "yaw": 90.1855239868164
                    }
                },
                "velocity": {
                    "x": -0.017550013959407806,
                    "y": 6.727693557739258,
                    "z": 0.0018629455007612705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.729671955108643,
                "transform": {
                    "location": {
                        "x": 983.8822631835938,
                        "y": 5163.11474609375,
                        "z": 371.625
                    },
                    "rotation": {
                        "roll": 0.0010406218934804201,
                        "pitch": -0.0420534722507,
                        "yaw": 90.10420227050781
                    }
                },
                "velocity": {
                    "x": -0.010796193033456802,
                    "y": 6.729662895202637,
                    "z": 0.0019254398066550493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013368704821914434,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6127014160156
                    },
                    "rotation": {
                        "roll": 0.00025042585912160575,
                        "pitch": -0.03176720812916756,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -1.8470833310857415e-05,
                    "y": -3.2100426324177533e-05,
                    "z": -0.0013363573234528303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.0636633113026619,
        "expert_target_speed": 6.357161967538223,
        "target_point": [
            11.841428527403858,
            0.2601732513441451
        ],
        "target_point_next": [
            62.830366347012244,
            1.3262519926781757
        ]
    },
    "155": {
        "acceleration": [
            0.048941075801849365,
            5.314579010009766,
            0.000693323090672493
        ],
        "angular_velocity": [
            0.4403379261493683,
            -0.0631491020321846,
            0.2660858631134033
        ],
        "forward_vector": [
            0.01765511929988861,
            0.9998031854629517,
            0.009047741070389748
        ],
        "right_vector": [
            -0.9998441934585571,
            0.01765400543808937,
            0.000202924944460392
        ],
        "location": [
            983.9964599609375,
            5180.216796875,
            371.6267395019531
        ],
        "rotation": [
            -0.011627218686044216,
            0.518404483795166,
            88.98834228515625
        ],
        "velocity": [
            0.11892480403184891,
            7.130399703979492,
            0.0014585399767383933
        ],
        "speed": 7.131391382298748,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.548683166503906,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.164109230041504,
                "transform": {
                    "location": {
                        "x": 986.8864135742188,
                        "y": 5241.7431640625,
                        "z": 371.6139831542969
                    },
                    "rotation": {
                        "roll": 0.0024098011199384928,
                        "pitch": 0.029062453657388687,
                        "yaw": -89.34532928466797
                    }
                },
                "velocity": {
                    "x": 0.08570429682731628,
                    "y": -8.163658142089844,
                    "z": 0.0023421095684170723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.017901420593262,
                "transform": {
                    "location": {
                        "x": 987.0159301757812,
                        "y": 5200.60498046875,
                        "z": 371.63421630859375
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.015873359516263008,
                        "yaw": -89.87637329101562
                    }
                },
                "velocity": {
                    "x": 0.017272915691137314,
                    "y": -8.01788330078125,
                    "z": 0.0017410278087481856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019684791564941,
                "transform": {
                    "location": {
                        "x": 987.0918579101562,
                        "y": 5158.46923828125,
                        "z": 371.6237487792969
                    },
                    "rotation": {
                        "roll": -0.00030517528648488224,
                        "pitch": -0.010928302071988583,
                        "yaw": -89.89803314208984
                    }
                },
                "velocity": {
                    "x": 0.014274895191192627,
                    "y": -8.019671440124512,
                    "z": -0.0018064880277961493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.278319358825684,
                "transform": {
                    "location": {
                        "x": 983.909912109375,
                        "y": 5147.0263671875,
                        "z": 371.62420654296875
                    },
                    "rotation": {
                        "roll": 0.001161088584922254,
                        "pitch": 0.23592154681682587,
                        "yaw": 90.12891387939453
                    }
                },
                "velocity": {
                    "x": -0.016781805083155632,
                    "y": 8.278302192687988,
                    "z": 0.002044029301032424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.683371543884277,
                "transform": {
                    "location": {
                        "x": 983.8809204101562,
                        "y": 5164.5078125,
                        "z": 371.6272277832031
                    },
                    "rotation": {
                        "roll": 0.004100428428500891,
                        "pitch": -0.6122444868087769,
                        "yaw": 90.27513885498047
                    }
                },
                "velocity": {
                    "x": -0.00716287549585104,
                    "y": 4.683365821838379,
                    "z": -0.0004228305770084262
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00071599060902372,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6127014160156
                    },
                    "rotation": {
                        "roll": 5.388112913351506e-05,
                        "pitch": -0.03167841583490372,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -3.464498877292499e-05,
                    "y": 2.021215550485067e-05,
                    "z": -0.0007148662698455155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.08793701976537704,
        "expert_target_speed": 7.913316132664603,
        "target_point": [
            10.227783627636011,
            0.24238016563815187
        ],
        "target_point_next": [
            61.21822554369241,
            1.23391284784988
        ]
    },
    "160": {
        "acceleration": [
            -0.009408891201019287,
            2.4070167541503906,
            0.0008581159636378288
        ],
        "angular_velocity": [
            -0.665988028049469,
            0.03518005833029747,
            0.38468804955482483
        ],
        "forward_vector": [
            0.01600128412246704,
            0.9998242259025574,
            0.009768925607204437
        ],
        "right_vector": [
            -0.9998719692230225,
            0.015999341383576393,
            0.0002769552811514586
        ],
        "location": [
            984.0277099609375,
            5182.162109375,
            371.6269836425781
        ],
        "rotation": [
            -0.015869125723838806,
            0.559727132320404,
            89.08311462402344
        ],
        "velocity": [
            0.12581036984920502,
            8.275416374206543,
            0.0020275115966796875
        ],
        "speed": 8.276372660510603,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.60847854614258,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.950139999389648,
                "transform": {
                    "location": {
                        "x": 986.9057006835938,
                        "y": 5239.72998046875,
                        "z": 371.6148681640625
                    },
                    "rotation": {
                        "roll": 0.005015097558498383,
                        "pitch": 0.02344803884625435,
                        "yaw": -89.46697998046875
                    }
                },
                "velocity": {
                    "x": 0.07195159047842026,
                    "y": -7.9498138427734375,
                    "z": 0.002444305457174778
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055817604064941,
                "transform": {
                    "location": {
                        "x": 987.0199584960938,
                        "y": 5198.595703125,
                        "z": 371.6348876953125
                    },
                    "rotation": {
                        "roll": -0.0006408697227016091,
                        "pitch": 0.018871812149882317,
                        "yaw": -89.88509368896484
                    }
                },
                "velocity": {
                    "x": 0.014248617924749851,
                    "y": -8.055805206298828,
                    "z": 0.0017867183778434992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036592483520508,
                "transform": {
                    "location": {
                        "x": 987.095458984375,
                        "y": 5156.46240234375,
                        "z": 371.6232604980469
                    },
                    "rotation": {
                        "roll": -0.0005493161734193563,
                        "pitch": -0.01028626412153244,
                        "yaw": -89.89801025390625
                    }
                },
                "velocity": {
                    "x": 0.01430863793939352,
                    "y": -8.036579132080078,
                    "z": -0.0019760800059884787
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.656588077545166,
                "transform": {
                    "location": {
                        "x": 983.9061279296875,
                        "y": 5149.0458984375,
                        "z": 371.62451171875
                    },
                    "rotation": {
                        "roll": 0.0015781830297783017,
                        "pitch": 0.00034833961399272084,
                        "yaw": 90.11637115478516
                    }
                },
                "velocity": {
                    "x": -0.01347730215638876,
                    "y": 7.656576156616211,
                    "z": 0.002274303464218974
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.223519325256348,
                "transform": {
                    "location": {
                        "x": 983.8778686523438,
                        "y": 5165.763671875,
                        "z": 371.6258850097656
                    },
                    "rotation": {
                        "roll": -0.0001525889674667269,
                        "pitch": -0.11017094552516937,
                        "yaw": 90.1915283203125
                    }
                },
                "velocity": {
                    "x": -0.011376908980309963,
                    "y": 5.223505973815918,
                    "z": 0.002696781186386943
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6126403808594
                    },
                    "rotation": {
                        "roll": 0.00028841212042607367,
                        "pitch": -0.03182867914438248,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.10180895030498505,
        "expert_target_speed": 8.791084315683584,
        "target_point": [
            8.282607083255694,
            0.2255798332229863
        ],
        "target_point_next": [
            59.274619380309105,
            1.1327654546750368
        ]
    },
    "165": {
        "acceleration": [
            -0.15797436237335205,
            5.984020233154297,
            0.002289009280502796
        ],
        "angular_velocity": [
            0.7111288905143738,
            0.11753231287002563,
            1.230881929397583
        ],
        "forward_vector": [
            0.012803361751139164,
            0.9998685717582703,
            0.00994963850826025
        ],
        "right_vector": [
            -0.9999178647994995,
            0.012796514667570591,
            0.0007515070028603077
        ],
        "location": [
            984.0570678710938,
            5184.3525390625,
            371.6272277832031
        ],
        "rotation": [
            -0.043060313910245895,
            0.5700817108154297,
            89.26636505126953
        ],
        "velocity": [
            0.1021791398525238,
            9.550024032592773,
            0.0016821288736537099
        ],
        "speed": 9.550570642622384,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.424041748046875,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.129499435424805,
                "transform": {
                    "location": {
                        "x": 986.9227905273438,
                        "y": 5237.71923828125,
                        "z": 371.6158142089844
                    },
                    "rotation": {
                        "roll": 0.007875313051044941,
                        "pitch": 0.029287848621606827,
                        "yaw": -89.52774047851562
                    }
                },
                "velocity": {
                    "x": 0.05831264331936836,
                    "y": -8.129289627075195,
                    "z": 0.002593154786154628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9997029304504395,
                "transform": {
                    "location": {
                        "x": 987.0238647460938,
                        "y": 5196.58935546875,
                        "z": 371.6355285644531
                    },
                    "rotation": {
                        "roll": 0.00041246021282859147,
                        "pitch": 0.01837320812046528,
                        "yaw": -89.88766479492188
                    }
                },
                "velocity": {
                    "x": 0.01572280190885067,
                    "y": -7.999687194824219,
                    "z": 0.0024836158845573664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020448684692383,
                "transform": {
                    "location": {
                        "x": 987.0990600585938,
                        "y": 5154.455078125,
                        "z": 371.622802734375
                    },
                    "rotation": {
                        "roll": -9.155262523563579e-05,
                        "pitch": -0.012232868000864983,
                        "yaw": -89.89801025390625
                    }
                },
                "velocity": {
                    "x": 0.014264984056353569,
                    "y": -8.020435333251953,
                    "z": -0.0014389896532520652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.129128932952881,
                "transform": {
                    "location": {
                        "x": 983.9035034179688,
                        "y": 5150.79833984375,
                        "z": 371.6248474121094
                    },
                    "rotation": {
                        "roll": 0.0006303208647295833,
                        "pitch": -0.16027721762657166,
                        "yaw": 90.09031677246094
                    }
                },
                "velocity": {
                    "x": -0.008574048988521099,
                    "y": 6.129122734069824,
                    "z": 0.0014210509834811091
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.951381683349609,
                "transform": {
                    "location": {
                        "x": 983.8750610351562,
                        "y": 5167.09716796875,
                        "z": 371.6253356933594
                    },
                    "rotation": {
                        "roll": 0.0005464660935103893,
                        "pitch": 0.11015045642852783,
                        "yaw": 90.14161682128906
                    }
                },
                "velocity": {
                    "x": -0.011220378801226616,
                    "y": 5.951370716094971,
                    "z": 0.0015624045627191663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005807228153571486,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6126403808594
                    },
                    "rotation": {
                        "roll": -0.0002136252005584538,
                        "pitch": -0.03173988685011864,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -1.515919507255603e-06,
                    "y": 7.470086984540103e-06,
                    "z": -0.000580672814976424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.989970862865448,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1049947589635849,
        "expert_target_speed": 9.659547035954349,
        "target_point": [
            57.087309585697135,
            0.9447053405208158
        ],
        "target_point_next": [
            73.08563151323003,
            1.1781821723529855
        ]
    },
    "170": {
        "acceleration": [
            -0.2139829844236374,
            2.559986114501953,
            0.000478553120046854
        ],
        "angular_velocity": [
            -0.6452324390411377,
            0.08446600288152695,
            1.4102294445037842
        ],
        "forward_vector": [
            0.006925000809133053,
            0.9999407529830933,
            0.008403797633945942
        ],
        "right_vector": [
            -0.9999753832817078,
            0.006915097590535879,
            0.001206901390105486
        ],
        "location": [
            984.0776977539062,
            5186.853515625,
            371.6277160644531
        ],
        "rotation": [
            -0.0691528171300888,
            0.481507807970047,
            89.60321044921875
        ],
        "velocity": [
            0.05398937687277794,
            10.353516578674316,
            0.0014948176685720682
        ],
        "speed": 10.353657344035442,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.92989730834961,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.543886184692383,
                "transform": {
                    "location": {
                        "x": 986.9342041015625,
                        "y": 5235.837890625,
                        "z": 371.61639404296875
                    },
                    "rotation": {
                        "roll": 0.007094284985214472,
                        "pitch": -0.17513969540596008,
                        "yaw": -89.67074584960938
                    }
                },
                "velocity": {
                    "x": 0.034747298806905746,
                    "y": -6.543792724609375,
                    "z": 0.0033260248601436615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064214706420898,
                "transform": {
                    "location": {
                        "x": 987.0278930664062,
                        "y": 5194.58056640625,
                        "z": 371.6361999511719
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": 0.017341848462820053,
                        "yaw": -89.88756561279297
                    }
                },
                "velocity": {
                    "x": 0.015831653028726578,
                    "y": -8.064199447631836,
                    "z": 0.0017653941176831722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036012649536133,
                "transform": {
                    "location": {
                        "x": 987.1025390625,
                        "y": 5152.4482421875,
                        "z": 371.62225341796875
                    },
                    "rotation": {
                        "roll": 0.0006486462079919875,
                        "pitch": -0.01589384861290455,
                        "yaw": -89.90001678466797
                    }
                },
                "velocity": {
                    "x": 0.012849447317421436,
                    "y": -8.036001205444336,
                    "z": -0.0021279905922710896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.946854591369629,
                "transform": {
                    "location": {
                        "x": 983.9021606445312,
                        "y": 5152.107421875,
                        "z": 371.62493896484375
                    },
                    "rotation": {
                        "roll": 0.0010180964600294828,
                        "pitch": -0.1763623058795929,
                        "yaw": 89.99100494384766
                    }
                },
                "velocity": {
                    "x": -0.004679493606090546,
                    "y": 4.946852684020996,
                    "z": 0.0006911372765898705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.431244850158691,
                "transform": {
                    "location": {
                        "x": 983.8719482421875,
                        "y": 5168.7802734375,
                        "z": 371.6241760253906
                    },
                    "rotation": {
                        "roll": 0.0019111430738121271,
                        "pitch": 0.5158363580703735,
                        "yaw": 90.10897064208984
                    }
                },
                "velocity": {
                    "x": -0.012673723511397839,
                    "y": 7.431233882904053,
                    "z": 0.001725206384435296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.77890610252507e-05,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6126403808594
                    },
                    "rotation": {
                        "roll": 0.00023333870922215283,
                        "pitch": -0.03143252804875374,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -3.3837473893072456e-05,
                    "y": -1.5790625184308738e-05,
                    "z": -5.804697138955817e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.10215171426534653,
        "expert_target_speed": 10.0,
        "target_point": [
            54.59082107129289,
            0.6120548046508889
        ],
        "target_point_next": [
            70.59023995019565,
            0.7513798397023798
        ]
    },
    "175": {
        "acceleration": [
            -0.2671298384666443,
            2.940673828125,
            -0.01193390041589737
        ],
        "angular_velocity": [
            -0.2964361310005188,
            0.045967817306518555,
            1.39976966381073
        ],
        "forward_vector": [
            0.0008168811909854412,
            0.9999797940254211,
            0.006297308020293713
        ],
        "right_vector": [
            -0.9999985694885254,
            0.000807726348284632,
            0.0014561869902536273
        ],
        "location": [
            984.0846557617188,
            5189.5302734375,
            371.6281433105469
        ],
        "rotation": [
            -0.0834350511431694,
            0.3608115613460541,
            89.95319366455078
        ],
        "velocity": [
            -0.006740532349795103,
            11.046566009521484,
            -0.001436958322301507
        ],
        "speed": 11.046568066032625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.26041793823242,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.479736328125,
                5224.6943359375,
                371.6198425292969
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.250353813171387,
                "transform": {
                    "location": {
                        "x": 986.9418334960938,
                        "y": 5234.2724609375,
                        "z": 371.6173400878906
                    },
                    "rotation": {
                        "roll": 0.00294441357254982,
                        "pitch": -0.06597962230443954,
                        "yaw": -89.72069549560547
                    }
                },
                "velocity": {
                    "x": 0.028662988916039467,
                    "y": -6.250288009643555,
                    "z": 0.0021840762346982956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9996724128723145,
                "transform": {
                    "location": {
                        "x": 987.0317993164062,
                        "y": 5192.5732421875,
                        "z": 371.63671875
                    },
                    "rotation": {
                        "roll": 9.093564585782588e-05,
                        "pitch": 0.013332528993487358,
                        "yaw": -89.88749694824219
                    }
                },
                "velocity": {
                    "x": 0.015710115432739258,
                    "y": -7.999656677246094,
                    "z": 0.001774854608811438
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020256042480469,
                "transform": {
                    "location": {
                        "x": 987.1060180664062,
                        "y": 5150.44091796875,
                        "z": 371.62164306640625
                    },
                    "rotation": {
                        "roll": -0.00012207045801915228,
                        "pitch": -0.017307698726654053,
                        "yaw": -89.9020767211914
                    }
                },
                "velocity": {
                    "x": 0.013756336644291878,
                    "y": -8.020243644714355,
                    "z": -0.002641563303768635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.308106422424316,
                "transform": {
                    "location": {
                        "x": 983.9005737304688,
                        "y": 5153.40380859375,
                        "z": 371.6258850097656
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": 0.003824905725196004,
                        "yaw": 90.03775024414062
                    }
                },
                "velocity": {
                    "x": -0.006863859947770834,
                    "y": 5.308101654052734,
                    "z": 0.0011504077119752765
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.446615219116211,
                "transform": {
                    "location": {
                        "x": 983.868408203125,
                        "y": 5170.76806640625,
                        "z": 371.6247863769531
                    },
                    "rotation": {
                        "roll": -0.0004577712097670883,
                        "pitch": 0.46624234318733215,
                        "yaw": 90.10485076904297
                    }
                },
                "velocity": {
                    "x": -0.015361719764769077,
                    "y": 8.446600914001465,
                    "z": 0.0015758323715999722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009115621214732528,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.5634765625,
                        "z": 371.6126403808594
                    },
                    "rotation": {
                        "roll": -0.0001220696431118995,
                        "pitch": -0.03164426609873772,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 2.7538544600247405e-06,
                    "y": 3.688130391310551e-06,
                    "z": -0.0009115504799410701
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.7506103515625
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.479736328125,
                        "y": 5224.6943359375,
                        "z": 371.6198425292969
                    },
                    "rotation": {
                        "roll": -8.337633916610798e-10,
                        "pitch": -0.021672189235687256,
                        "yaw": 90.10231018066406
                    }
                },
                "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": 0.09009896218776703,
        "expert_target_speed": 10.0,
        "target_point": [
            51.91679055378976,
            0.2811765152779423
        ],
        "target_point_next": [
            67.91676372801021,
            0.32209536433887725
        ]
    },
    "180": {
        "acceleration": [
            -0.10326199233531952,
            1.9957160949707031,
            -0.0044357310980558395
        ],
        "angular_velocity": [
            -0.2719634771347046,
            -0.09005146473646164,
            0.6084170341491699
        ],
        "forward_vector": [
            -0.003969405312091112,
            0.9999773502349854,
            0.005434009712189436
        ],
        "right_vector": [
            -0.9999913573265076,
            -0.003976285457611084,
            0.0012559277238324285
        ],
        "location": [
            984.077392578125,
            5192.376953125,
            371.627685546875
        ],
        "rotation": [
            -0.0719604417681694,
            0.3113473355770111,
            90.22743225097656
        ],
        "velocity": [
            -0.04967769607901573,
            11.675562858581543,
            -0.0022410391829907894
        ],
        "speed": 11.67566854352146,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.4216194152832,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4796752929688,
                5224.6943359375,
                371.6210021972656
            ],
            "velocity": [
                -0.007888340391218662,
                5.904628778807819e-05,
                0.02020077407360077
            ],
            "speed_kmh": 0.07807110049171746,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.581780910491943,
                "transform": {
                    "location": {
                        "x": 986.9487915039062,
                        "y": 5232.61572265625,
                        "z": 371.6184387207031
                    },
                    "rotation": {
                        "roll": 0.004429586231708527,
                        "pitch": 0.179804727435112,
                        "yaw": -89.75716400146484
                    }
                },
                "velocity": {
                    "x": 0.027517907321453094,
                    "y": -7.581730365753174,
                    "z": 0.001953992759808898
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061762809753418,
                "transform": {
                    "location": {
                        "x": 987.0354614257812,
                        "y": 5190.56494140625,
                        "z": 371.63714599609375
                    },
                    "rotation": {
                        "roll": 0.0005553322262130678,
                        "pitch": 0.009015848860144615,
                        "yaw": -89.89495086669922
                    }
                },
                "velocity": {
                    "x": 0.014819200150668621,
                    "y": -8.061749458312988,
                    "z": 0.001901769544929266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03677749633789,
                "transform": {
                    "location": {
                        "x": 987.1094360351562,
                        "y": 5148.43408203125,
                        "z": 371.6209716796875
                    },
                    "rotation": {
                        "roll": -0.0010070803109556437,
                        "pitch": -0.015955321490764618,
                        "yaw": -89.90194702148438
                    }
                },
                "velocity": {
                    "x": 0.013723787851631641,
                    "y": -8.036765098571777,
                    "z": -0.002199621172621846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.231521129608154,
                "transform": {
                    "location": {
                        "x": 983.8988037109375,
                        "y": 5154.87353515625,
                        "z": 371.6263732910156
                    },
                    "rotation": {
                        "roll": -0.00018310800078324974,
                        "pitch": 0.09396973997354507,
                        "yaw": 90.0688705444336
                    }
                },
                "velocity": {
                    "x": -0.007518958766013384,
                    "y": 6.231516361236572,
                    "z": 0.0015214347513392568
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.010563850402832,
                "transform": {
                    "location": {
                        "x": 983.864501953125,
                        "y": 5173.11376953125,
                        "z": 371.6247253417969
                    },
                    "rotation": {
                        "roll": 0.0018570469692349434,
                        "pitch": 0.6406375765800476,
                        "yaw": 90.08979797363281
                    }
                },
                "velocity": {
                    "x": -0.015732567757368088,
                    "y": 10.010551452636719,
                    "z": 0.002241373062133789
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1191264390945435,
                "transform": {
                    "location": {
                        "x": 983.8387451171875,
                        "y": 5243.65869140625,
                        "z": 371.61279296875
                    },
                    "rotation": {
                        "roll": -0.002685550134629011,
                        "pitch": 0.1143578514456749,
                        "yaw": 90.13758850097656
                    }
                },
                "velocity": {
                    "x": -0.009565874934196472,
                    "y": 1.1190842390060425,
                    "z": -0.001720218569971621
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3878547251224518,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.6219177246094
                    },
                    "rotation": {
                        "roll": 3.8214715459616855e-05,
                        "pitch": -0.040134187787771225,
                        "yaw": 90.10199737548828
                    }
                },
                "velocity": {
                    "x": -1.6196081560337916e-05,
                    "y": -0.0003029665967915207,
                    "z": -0.38785460591316223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.021686416119337082,
                "transform": {
                    "location": {
                        "x": 981.4796752929688,
                        "y": 5224.6943359375,
                        "z": 371.6210021972656
                    },
                    "rotation": {
                        "roll": 0.043560560792684555,
                        "pitch": -0.024260830134153366,
                        "yaw": 90.10226440429688
                    }
                },
                "velocity": {
                    "x": -0.007888340391218662,
                    "y": 5.904628778807819e-05,
                    "z": 0.02020077407360077
                },
                "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": 0.07688229531049728,
        "expert_target_speed": 10.0,
        "target_point": [
            49.07085396853945,
            0.03916754064453104
        ],
        "target_point_next": [
            65.07084139052021,
            0.004261603615181797
        ]
    },
    "185": {
        "acceleration": [
            -0.10226383805274963,
            1.1296272277832031,
            -0.009725191630423069
        ],
        "angular_velocity": [
            -0.42778465151786804,
            -0.06940223276615143,
            0.4309179484844208
        ],
        "forward_vector": [
            -0.006023376248776913,
            0.9999755024909973,
            0.0035744826309382915
        ],
        "right_vector": [
            -0.9999815225601196,
            -0.006026538088917732,
            0.0008745762170292437
        ],
        "location": [
            984.0620727539062,
            5195.34423828125,
            371.6272277832031
        ],
        "rotation": [
            -0.050109852105379105,
            0.2048032134771347,
            90.3451156616211
        ],
        "velocity": [
            -0.07642274349927902,
            12.012722969055176,
            -0.0023656273260712624
        ],
        "speed": 12.012966060344537,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.46401596069336,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4791870117188,
                5224.69482421875,
                371.6262512207031
            ],
            "velocity": [
                0.0006871019722893834,
                -0.0004151462053414434,
                0.015128499828279018
            ],
            "speed_kmh": 0.05453922326730531,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.362915992736816,
                "transform": {
                    "location": {
                        "x": 986.9557495117188,
                        "y": 5230.548828125,
                        "z": 371.6192626953125
                    },
                    "rotation": {
                        "roll": 0.0030602896586060524,
                        "pitch": 0.15837842226028442,
                        "yaw": -89.82630920410156
                    }
                },
                "velocity": {
                    "x": 0.026139168068766594,
                    "y": -8.362874984741211,
                    "z": 0.0022810553200542927
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002944946289062,
                "transform": {
                    "location": {
                        "x": 987.0391235351562,
                        "y": 5188.55712890625,
                        "z": 371.6374206542969
                    },
                    "rotation": {
                        "roll": 0.0006913569523021579,
                        "pitch": 0.007205849047750235,
                        "yaw": -89.89485931396484
                    }
                },
                "velocity": {
                    "x": 0.014700827188789845,
                    "y": -8.002931594848633,
                    "z": 0.0012024211464449763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020051956176758,
                "transform": {
                    "location": {
                        "x": 987.1128540039062,
                        "y": 5146.42724609375,
                        "z": 371.6203308105469
                    },
                    "rotation": {
                        "roll": -0.00024414008657913655,
                        "pitch": -0.017150603234767914,
                        "yaw": -89.90213012695312
                    }
                },
                "velocity": {
                    "x": 0.013768221251666546,
                    "y": -8.020039558410645,
                    "z": -0.002542362082749605
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.601038455963135,
                "transform": {
                    "location": {
                        "x": 983.8955078125,
                        "y": 5156.580078125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": -0.0020446786656975746,
                        "pitch": 0.0563080757856369,
                        "yaw": 90.14374542236328
                    }
                },
                "velocity": {
                    "x": -0.01361132226884365,
                    "y": 6.601024150848389,
                    "z": 0.0012688732240349054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.564623832702637,
                "transform": {
                    "location": {
                        "x": 983.8605346679688,
                        "y": 5175.60693359375,
                        "z": 371.626953125
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.18046724796295166,
                        "yaw": 90.09275817871094
                    }
                },
                "velocity": {
                    "x": -0.01532039511948824,
                    "y": 9.564611434936523,
                    "z": 0.0018678378546610475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.160531997680664,
                "transform": {
                    "location": {
                        "x": 983.8348999023438,
                        "y": 5244.076171875,
                        "z": 371.6125183105469
                    },
                    "rotation": {
                        "roll": -0.0030822777189314365,
                        "pitch": 0.1328403353691101,
                        "yaw": 90.25000762939453
                    }
                },
                "velocity": {
                    "x": -0.019870633259415627,
                    "y": 2.1604397296905518,
                    "z": -0.0018199252663180232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00916128046810627,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.6012268066406
                    },
                    "rotation": {
                        "roll": -0.000244139286223799,
                        "pitch": -0.040100038051605225,
                        "yaw": 90.10192108154297
                    }
                },
                "velocity": {
                    "x": -0.00018341942632105201,
                    "y": 2.685777326405514e-05,
                    "z": 0.009159404784440994
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01514978427439928,
                "transform": {
                    "location": {
                        "x": 981.4791870117188,
                        "y": 5224.69482421875,
                        "z": 371.6262512207031
                    },
                    "rotation": {
                        "roll": 0.11337360739707947,
                        "pitch": 0.0015641131903976202,
                        "yaw": 90.10154724121094
                    }
                },
                "velocity": {
                    "x": 0.0006871019722893834,
                    "y": -0.0004151462053414434,
                    "z": 0.015128499828279018
                },
                "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": 0.06310517340898514,
        "expert_target_speed": 10.0,
        "target_point": [
            46.103507338282704,
            -0.05904386551178348
        ],
        "target_point_next": [
            62.10338936232047,
            -0.12680185290370127
        ]
    },
    "190": {
        "acceleration": [
            0.41926175355911255,
            0.7575416564941406,
            0.0002664560452103615
        ],
        "angular_velocity": [
            -0.2069350630044937,
            -0.42884495854377747,
            -2.083367347717285
        ],
        "forward_vector": [
            -0.0019768851343542337,
            0.9999955892562866,
            0.002204654738306999
        ],
        "right_vector": [
            -0.9999977350234985,
            -0.0019751894287765026,
            -0.0007710487698204815
        ],
        "location": [
            984.05078125,
            5198.37451171875,
            371.62652587890625
        ],
        "rotation": [
            0.04417794942855835,
            0.12631751596927643,
            90.11326599121094
        ],
        "velocity": [
            -0.0004998260992579162,
            12.227349281311035,
            -0.0031644534319639206
        ],
        "speed": 12.22734929152691,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.445358276367188,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4771118164062,
                5224.6943359375,
                371.6275634765625
            ],
            "velocity": [
                -0.0003815262170974165,
                0.00014684948837384582,
                -0.0029503258410841227
            ],
            "speed_kmh": 0.010722652785247516,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.867192268371582,
                "transform": {
                    "location": {
                        "x": 986.9620361328125,
                        "y": 5228.53125,
                        "z": 371.6199035644531
                    },
                    "rotation": {
                        "roll": 0.0006437689298763871,
                        "pitch": -0.0037224527914077044,
                        "yaw": -89.81369018554688
                    }
                },
                "velocity": {
                    "x": 0.023254849016666412,
                    "y": -7.867157459259033,
                    "z": 0.002255782950669527
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060436248779297,
                "transform": {
                    "location": {
                        "x": 987.0426635742188,
                        "y": 5186.548828125,
                        "z": 371.6375427246094
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": -0.00525241531431675,
                        "yaw": -89.89875793457031
                    }
                },
                "velocity": {
                    "x": 0.0142297288402915,
                    "y": -8.060422897338867,
                    "z": -0.00020655631669797003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035852432250977,
                "transform": {
                    "location": {
                        "x": 987.1162109375,
                        "y": 5144.419921875,
                        "z": 371.61968994140625
                    },
                    "rotation": {
                        "roll": 0.0004742729652207345,
                        "pitch": -0.01846200041472912,
                        "yaw": -89.9020767211914
                    }
                },
                "velocity": {
                    "x": 0.01372651755809784,
                    "y": -8.035840034484863,
                    "z": -0.0026861189398914576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3154921531677246,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.68115234375,
                        "z": 371.6258239746094
                    },
                    "rotation": {
                        "roll": -0.00720216054469347,
                        "pitch": -0.6184667944908142,
                        "yaw": 90.49625396728516
                    }
                },
                "velocity": {
                    "x": 0.0021474072709679604,
                    "y": 1.3154902458190918,
                    "z": -0.00046323775313794613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.470996856689453,
                "transform": {
                    "location": {
                        "x": 983.857177734375,
                        "y": 5177.72705078125,
                        "z": 371.6300048828125
                    },
                    "rotation": {
                        "roll": -0.00015259133942890912,
                        "pitch": -0.5080226063728333,
                        "yaw": 90.0915756225586
                    }
                },
                "velocity": {
                    "x": -0.011928694322705269,
                    "y": 7.470987319946289,
                    "z": 0.001955709420144558
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6649253368377686,
                "transform": {
                    "location": {
                        "x": 983.82763671875,
                        "y": 5244.8076171875,
                        "z": 371.6121826171875
                    },
                    "rotation": {
                        "roll": -0.00387572031468153,
                        "pitch": 0.19222883880138397,
                        "yaw": 90.39718627929688
                    }
                },
                "velocity": {
                    "x": -0.037219010293483734,
                    "y": 3.664736032485962,
                    "z": -0.0014693450648337603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.007077652495354414,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.6032409667969
                    },
                    "rotation": {
                        "roll": -0.0001220729755004868,
                        "pitch": -0.040011245757341385,
                        "yaw": 90.10192108154297
                    }
                },
                "velocity": {
                    "x": -0.00027530622901394963,
                    "y": -2.3879380023572594e-05,
                    "z": 0.007072255481034517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0029785146471112967,
                "transform": {
                    "location": {
                        "x": 981.4771118164062,
                        "y": 5224.6943359375,
                        "z": 371.6275634765625
                    },
                    "rotation": {
                        "roll": -0.1316833347082138,
                        "pitch": -0.03896622732281685,
                        "yaw": 90.10167694091797
                    }
                },
                "velocity": {
                    "x": -0.0003815262170974165,
                    "y": 0.00014684948837384582,
                    "z": -0.0029503258410841227
                },
                "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": 0.0752795934677124,
        "expert_target_speed": 10.0,
        "target_point": [
            43.07308018468703,
            0.12177955907276214
        ],
        "target_point_next": [
            59.073105368101665,
            0.11860811150028278
        ]
    },
    "195": {
        "acceleration": [
            0.38145989179611206,
            1.1396980285644531,
            -0.003071017563343048
        ],
        "angular_velocity": [
            0.0005684931529685855,
            -0.1327206790447235,
            -1.7482097148895264
        ],
        "forward_vector": [
            0.00699842581525445,
            0.9999737739562988,
            0.001844643265940249
        ],
        "right_vector": [
            -0.9999738335609436,
            0.007001787424087524,
            -0.0018220434430986643
        ],
        "location": [
            984.0623779296875,
            5201.4638671875,
            371.6256103515625
        ],
        "rotation": [
            0.10439564287662506,
            0.10569033771753311,
            89.59901428222656
        ],
        "velocity": [
            0.09662052989006042,
            12.481096267700195,
            -0.005006046034395695
        ],
        "speed": 12.481470248748582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.373838424682617,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085000038146973,
                "transform": {
                    "location": {
                        "x": 986.9673461914062,
                        "y": 5226.5458984375,
                        "z": 371.6207275390625
                    },
                    "rotation": {
                        "roll": 0.0023479831870645285,
                        "pitch": 0.04320094361901283,
                        "yaw": -89.86211395263672
                    }
                },
                "velocity": {
                    "x": 0.019474061205983162,
                    "y": -8.084976196289062,
                    "z": 0.002961444901302457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002270698547363,
                "transform": {
                    "location": {
                        "x": 987.0460815429688,
                        "y": 5184.54150390625,
                        "z": 371.6373291015625
                    },
                    "rotation": {
                        "roll": -0.0009460445144213736,
                        "pitch": -0.006502339616417885,
                        "yaw": -89.90142059326172
                    }
                },
                "velocity": {
                    "x": 0.011449567973613739,
                    "y": -8.002262115478516,
                    "z": -0.0020677470602095127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020529747009277,
                "transform": {
                    "location": {
                        "x": 987.1198120117188,
                        "y": 5142.4130859375,
                        "z": 371.6188049316406
                    },
                    "rotation": {
                        "roll": -0.0001525887055322528,
                        "pitch": -0.026610415428876877,
                        "yaw": -89.89810180664062
                    }
                },
                "velocity": {
                    "x": 0.01427629217505455,
                    "y": -8.020516395568848,
                    "z": -0.0024348830338567495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0043745022267103195,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.70947265625,
                        "z": 371.62615966796875
                    },
                    "rotation": {
                        "roll": -0.007110615260899067,
                        "pitch": -0.3347748816013336,
                        "yaw": 90.50120544433594
                    }
                },
                "velocity": {
                    "x": -5.479151877807453e-05,
                    "y": -0.004140718374401331,
                    "z": 0.00140986533369869
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9630355834960938,
                "transform": {
                    "location": {
                        "x": 983.8546752929688,
                        "y": 5179.27685546875,
                        "z": 371.6322937011719
                    },
                    "rotation": {
                        "roll": 0.0003521899343468249,
                        "pitch": -1.0723532438278198,
                        "yaw": 90.0906982421875
                    }
                },
                "velocity": {
                    "x": -0.006370468996465206,
                    "y": 3.9630300998687744,
                    "z": -0.0017599104903638363
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.88531231880188,
                "transform": {
                    "location": {
                        "x": 983.8184204101562,
                        "y": 5245.6630859375,
                        "z": 371.6114501953125
                    },
                    "rotation": {
                        "roll": -0.000701905635651201,
                        "pitch": -0.05963438004255295,
                        "yaw": 90.50633239746094
                    }
                },
                "velocity": {
                    "x": -0.03159496560692787,
                    "y": 2.885138750076294,
                    "z": -0.0018067836062982678
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009887428022921085,
                "transform": {
                    "location": {
                        "x": 983.8106689453125,
                        "y": 5259.75244140625,
                        "z": 371.6041259765625
                    },
                    "rotation": {
                        "roll": 0.00024569840752519667,
                        "pitch": -0.040100038051605225,
                        "yaw": 90.10192108154297
                    }
                },
                "velocity": {
                    "x": 0.0002411890891380608,
                    "y": 3.704959453898482e-06,
                    "z": 0.0009588672546669841
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.10788682848215103,
        "expert_target_speed": 10.0,
        "target_point": [
            39.98088736120995,
            0.49867293011176783
        ],
        "target_point_next": [
            55.98029546336147,
            0.6392300672140385
        ]
    },
    "200": {
        "acceleration": [
            0.0381779670715332,
            -1.6401100158691406,
            -0.006152540445327759
        ],
        "angular_velocity": [
            -0.7378324270248413,
            0.22052611410617828,
            -0.7152210474014282
        ],
        "forward_vector": [
            0.013192224316298962,
            0.9999127984046936,
            0.0006266831769607961
        ],
        "right_vector": [
            -0.999911367893219,
            0.01319331955164671,
            -0.001778120524249971
        ],
        "location": [
            984.095703125,
            5204.59375,
            371.624755859375
        ],
        "rotation": [
            0.10187887400388718,
            0.03590630367398262,
            89.2441177368164
        ],
        "velocity": [
            0.16099610924720764,
            12.4403076171875,
            -0.005582351703196764
        ],
        "speed": 12.441349338293097,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.270389556884766,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.09172534942627,
                "transform": {
                    "location": {
                        "x": 986.97216796875,
                        "y": 5224.51318359375,
                        "z": 371.62152099609375
                    },
                    "rotation": {
                        "roll": 0.0011006876593455672,
                        "pitch": 0.02817452885210514,
                        "yaw": -89.85152435302734
                    }
                },
                "velocity": {
                    "x": 0.01837666518986225,
                    "y": -8.091704368591309,
                    "z": 0.002425231970846653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061326026916504,
                "transform": {
                    "location": {
                        "x": 987.0493774414062,
                        "y": 5182.533203125,
                        "z": 371.6370544433594
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.009555433876812458,
                        "yaw": -89.90715789794922
                    }
                },
                "velocity": {
                    "x": 0.012989495880901814,
                    "y": -8.061315536499023,
                    "z": -0.001683731097728014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035776138305664,
                "transform": {
                    "location": {
                        "x": 987.1234130859375,
                        "y": 5140.40625,
                        "z": 371.6178894042969
                    },
                    "rotation": {
                        "roll": -0.00039672880666330457,
                        "pitch": -0.02782618999481201,
                        "yaw": -89.89797973632812
                    }
                },
                "velocity": {
                    "x": 0.014307175762951374,
                    "y": -8.035762786865234,
                    "z": -0.0030748748686164618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015250209253281355,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.7109375,
                        "z": 371.6265869140625
                    },
                    "rotation": {
                        "roll": -0.001708985771983862,
                        "pitch": -0.0661640390753746,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": -0.00011948381143156439,
                    "y": -0.0009925359627231956,
                    "z": 0.0011516445083543658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.011651805602014065,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.55224609375,
                        "z": 371.6348876953125
                    },
                    "rotation": {
                        "roll": 0.0012588565004989505,
                        "pitch": -1.780357003211975,
                        "yaw": 90.09002685546875
                    }
                },
                "velocity": {
                    "x": -0.00014968705363571644,
                    "y": -0.011608211323618889,
                    "z": -0.0009957912843674421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0021112465765327215,
                "transform": {
                    "location": {
                        "x": 983.8136596679688,
                        "y": 5246.09130859375,
                        "z": 371.6107482910156
                    },
                    "rotation": {
                        "roll": 0.0006584242801181972,
                        "pitch": -0.42483773827552795,
                        "yaw": 90.58605194091797
                    }
                },
                "velocity": {
                    "x": 0.00029367260867729783,
                    "y": 0.001668334472924471,
                    "z": -0.001260071061551571
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.241744875907898,
                "transform": {
                    "location": {
                        "x": 983.8096923828125,
                        "y": 5259.8681640625,
                        "z": 371.604248046875
                    },
                    "rotation": {
                        "roll": -0.00534058129414916,
                        "pitch": 0.16045479476451874,
                        "yaw": 90.10220336914062
                    }
                },
                "velocity": {
                    "x": -0.012175985611975193,
                    "y": 1.2416850328445435,
                    "z": 0.0005820274236612022
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.14080485701560974,
        "expert_target_speed": 0,
        "target_point": [
            36.84698554912765,
            0.7381345021148811
        ],
        "target_point_next": [
            52.84521741964507,
            0.9777027494754454
        ]
    },
    "205": {
        "acceleration": [
            0.043768882751464844,
            -2.480907440185547,
            0.006539924070239067
        ],
        "angular_velocity": [
            -0.5949093103408813,
            0.14239320158958435,
            0.07641499489545822
        ],
        "forward_vector": [
            0.01269248966127634,
            0.9999152421951294,
            -0.0029177621472626925
        ],
        "right_vector": [
            -0.9999191761016846,
            0.012690393254160881,
            -0.0007356764981523156
        ],
        "location": [
            984.1333618164062,
            5207.62451171875,
            371.6244812011719
        ],
        "rotation": [
            0.04215133935213089,
            -0.16717569530010223,
            89.27275085449219
        ],
        "velocity": [
            0.15126939117908478,
            11.81568717956543,
            -0.0049509331583976746
        ],
        "speed": 11.816655447039766,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.27520179748535,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.999675273895264,
                "transform": {
                    "location": {
                        "x": 986.976318359375,
                        "y": 5222.5078125,
                        "z": 371.6222229003906
                    },
                    "rotation": {
                        "roll": 0.0014398570638149977,
                        "pitch": 0.011741094291210175,
                        "yaw": -89.89562225341797
                    }
                },
                "velocity": {
                    "x": 0.016249211505055428,
                    "y": -7.999658584594727,
                    "z": 0.0021658705081790686
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00216293334961,
                "transform": {
                    "location": {
                        "x": 987.052734375,
                        "y": 5180.52587890625,
                        "z": 371.63665771484375
                    },
                    "rotation": {
                        "roll": -0.0005493165808729827,
                        "pitch": -0.013277887366712093,
                        "yaw": -89.90364837646484
                    }
                },
                "velocity": {
                    "x": 0.013462007977068424,
                    "y": -8.002151489257812,
                    "z": -0.001934328000061214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020895004272461,
                "transform": {
                    "location": {
                        "x": 987.126953125,
                        "y": 5138.39892578125,
                        "z": 371.6168518066406
                    },
                    "rotation": {
                        "roll": 0.00018697894120123237,
                        "pitch": -0.027675924822688103,
                        "yaw": -89.89794158935547
                    }
                },
                "velocity": {
                    "x": 0.014311295002698898,
                    "y": -8.020881652832031,
                    "z": -0.004055299796164036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009355070069432259,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.7109375,
                        "z": 371.6266784667969
                    },
                    "rotation": {
                        "roll": 0.0005071394261904061,
                        "pitch": -0.009432490915060043,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": -5.8535912103252485e-05,
                    "y": -0.00027773395413532853,
                    "z": 0.0008914094069041312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.009955434128642082,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.55859375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0021226636599749327,
                        "pitch": -0.7511841654777527,
                        "yaw": 90.0904312133789
                    }
                },
                "velocity": {
                    "x": 7.926372927613556e-05,
                    "y": -0.009720439091324806,
                    "z": 0.0021488259080797434
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2240923643112183,
                "transform": {
                    "location": {
                        "x": 983.8115234375,
                        "y": 5246.279296875,
                        "z": 371.6111145019531
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": -0.0315827913582325,
                        "yaw": 90.56729888916016
                    }
                },
                "velocity": {
                    "x": -0.01379278115928173,
                    "y": 1.2240135669708252,
                    "z": -0.0015980815514922142
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6941754817962646,
                "transform": {
                    "location": {
                        "x": 983.8045654296875,
                        "y": 5260.36376953125,
                        "z": 371.6039733886719
                    },
                    "rotation": {
                        "roll": -0.008514389395713806,
                        "pitch": 0.24671325087547302,
                        "yaw": 90.23600769042969
                    }
                },
                "velocity": {
                    "x": -0.027889082208275795,
                    "y": 2.694030284881592,
                    "z": -0.0023147582542151213
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.1610030233860016,
        "expert_target_speed": 0,
        "target_point": [
            33.816349273149534,
            0.7191555713846475
        ],
        "target_point_next": [
            49.814697262890036,
            0.9508396820791918
        ]
    },
    "210": {
        "acceleration": [
            0.10018765926361084,
            -2.5135040283203125,
            -0.0019439775496721268
        ],
        "angular_velocity": [
            -0.17610660195350647,
            -0.030913034453988075,
            -0.8007069826126099
        ],
        "forward_vector": [
            0.015042271465063095,
            0.9998776912689209,
            -0.004287110175937414
        ],
        "right_vector": [
            -0.9998865723609924,
            0.015038915909826756,
            -0.00081363640492782
        ],
        "location": [
            984.1741943359375,
            5210.498046875,
            371.623779296875
        ],
        "rotation": [
            0.04661836475133896,
            -0.2456340789794922,
            89.13809967041016
        ],
        "velocity": [
            0.17809657752513885,
            11.21604061126709,
            -0.004962043836712837
        ],
        "speed": 11.217454496654703,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.450152397155762,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.075528144836426,
                "transform": {
                    "location": {
                        "x": 986.9805297851562,
                        "y": 5220.49755859375,
                        "z": 371.6229553222656
                    },
                    "rotation": {
                        "roll": 0.00200295215472579,
                        "pitch": 0.027218302711844444,
                        "yaw": -89.8662109375
                    }
                },
                "velocity": {
                    "x": 0.016401268541812897,
                    "y": -8.075511932373047,
                    "z": 0.0017623614985495806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062311172485352,
                "transform": {
                    "location": {
                        "x": 987.0562133789062,
                        "y": 5178.517578125,
                        "z": 371.63623046875
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": -0.014193132519721985,
                        "yaw": -89.90011596679688
                    }
                },
                "velocity": {
                    "x": 0.014123117551207542,
                    "y": -8.062298774719238,
                    "z": -0.0018691252917051315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0941162109375,
                        "y": 5136.33154296875,
                        "z": 371.6174011230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.034820303320884705,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014116027159616351,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.7109375,
                        "z": 371.6266784667969
                    },
                    "rotation": {
                        "roll": 0.0002137425180990249,
                        "pitch": 0.007137547247111797,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": -2.786843106150627e-05,
                    "y": -3.4906257496913895e-05,
                    "z": 0.001410895842127502
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004139602184295654,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.56201171875,
                        "z": 371.62921142578125
                    },
                    "rotation": {
                        "roll": 0.0014658895088359714,
                        "pitch": -0.24615317583084106,
                        "yaw": 90.09052276611328
                    }
                },
                "velocity": {
                    "x": 4.934143726131879e-05,
                    "y": -0.0038839078042656183,
                    "z": 0.0014314781874418259
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1862399578094482,
                "transform": {
                    "location": {
                        "x": 983.80615234375,
                        "y": 5246.70947265625,
                        "z": 371.6109924316406
                    },
                    "rotation": {
                        "roll": -0.0003356901288498193,
                        "pitch": 0.08449626713991165,
                        "yaw": 90.64290618896484
                    }
                },
                "velocity": {
                    "x": -0.02616076171398163,
                    "y": 2.186082601547241,
                    "z": -0.0019373511895537376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.245182991027832,
                "transform": {
                    "location": {
                        "x": 983.7947998046875,
                        "y": 5261.24169921875,
                        "z": 371.6033630371094
                    },
                    "rotation": {
                        "roll": -0.009002694860100746,
                        "pitch": 0.2780706584453583,
                        "yaw": 90.4256591796875
                    }
                },
                "velocity": {
                    "x": -0.04903527721762657,
                    "y": 4.244899272918701,
                    "z": -0.002154398011043668
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.2008223831653595,
        "expert_target_speed": 9.287865273123854,
        "target_point": [
            30.940744409769493,
            0.7961099859193235
        ],
        "target_point_next": [
            46.93850470509856,
            1.065333798342036
        ]
    },
    "215": {
        "acceleration": [
            1.439468264579773,
            -2.0586776733398438,
            0.008172034285962582
        ],
        "angular_velocity": [
            0.005553610622882843,
            -1.1342602968215942,
            -6.978570461273193
        ],
        "forward_vector": [
            0.031117405742406845,
            0.9995051026344299,
            -0.004604561720043421
        ],
        "right_vector": [
            -0.9995075464248657,
            0.031098220497369766,
            -0.0041811210103333
        ],
        "location": [
            984.2423095703125,
            5213.2275390625,
            371.6228942871094
        ],
        "rotation": [
            0.23956380784511566,
            -0.26382288336753845,
            88.216796875
        ],
        "velocity": [
            0.4222275912761688,
            10.644740104675293,
            -0.003237819531932473
        ],
        "speed": 10.653110721048451,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.795411109924316,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046012878417969,
                "transform": {
                    "location": {
                        "x": 986.984375,
                        "y": 5218.48095703125,
                        "z": 371.6236572265625
                    },
                    "rotation": {
                        "roll": 0.0007870742701925337,
                        "pitch": 0.017416981980204582,
                        "yaw": -89.90435028076172
                    }
                },
                "velocity": {
                    "x": 0.015074045397341251,
                    "y": -8.045998573303223,
                    "z": 0.002535066567361355
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001315116882324,
                "transform": {
                    "location": {
                        "x": 987.0597534179688,
                        "y": 5176.509765625,
                        "z": 371.6357421875
                    },
                    "rotation": {
                        "roll": 0.0002697386662475765,
                        "pitch": -0.012847584672272205,
                        "yaw": -89.89983367919922
                    }
                },
                "velocity": {
                    "x": 0.014010048471391201,
                    "y": -8.001302719116211,
                    "z": -0.0021983622573316097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5756,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0523071289062,
                        "y": 5134.24853515625,
                        "z": 371.6184387207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.034820303320884705,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007701760623604059,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.7109375,
                        "z": 371.6266784667969
                    },
                    "rotation": {
                        "roll": -0.00021362265397328883,
                        "pitch": 0.011297131888568401,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": 2.8123364245402627e-05,
                    "y": -1.1198879292351194e-05,
                    "z": 0.0007695809472352266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0019157849019393325,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.56298828125,
                        "z": 371.6285705566406
                    },
                    "rotation": {
                        "roll": 0.0007928194245323539,
                        "pitch": -0.06894392520189285,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 8.676281140651554e-05,
                    "y": -0.0012966148788109422,
                    "z": 0.001407655538059771
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8730965852737427,
                "transform": {
                    "location": {
                        "x": 983.7997436523438,
                        "y": 5247.2392578125,
                        "z": 371.6104736328125
                    },
                    "rotation": {
                        "roll": -0.000518802204169333,
                        "pitch": -0.12917935848236084,
                        "yaw": 90.66043853759766
                    }
                },
                "velocity": {
                    "x": -0.01074318028986454,
                    "y": 0.8730295300483704,
                    "z": -0.0012832736829295754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.405017375946045,
                "transform": {
                    "location": {
                        "x": 983.7798461914062,
                        "y": 5262.48046875,
                        "z": 371.6028747558594
                    },
                    "rotation": {
                        "roll": -0.007354733534157276,
                        "pitch": 0.23247230052947998,
                        "yaw": 90.62621307373047
                    }
                },
                "velocity": {
                    "x": -0.06668557971715927,
                    "y": 5.404604911804199,
                    "z": -0.0033289622515439987
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.3019813895225525,
        "expert_target_speed": 7.565448378575583,
        "target_point": [
            28.193651808160585,
            1.276699143871007
        ],
        "target_point_next": [
            44.18501427224583,
            1.8031423698963547
        ]
    },
    "220": {
        "acceleration": [
            1.5779304504394531,
            -7.786712646484375,
            0.004067039117217064
        ],
        "angular_velocity": [
            -1.871848464012146,
            -0.8971729278564453,
            -11.161052703857422
        ],
        "forward_vector": [
            0.07104403525590897,
            0.9974536895751953,
            -0.006230790633708239
        ],
        "right_vector": [
            -0.997438371181488,
            0.0709879994392395,
            -0.008795707486569881
        ],
        "location": [
            984.3927001953125,
            5215.80810546875,
            371.6224670410156
        ],
        "rotation": [
            0.5039732456207275,
            -0.35700032114982605,
            85.92596435546875
        ],
        "velocity": [
            0.8183659315109253,
            9.619606971740723,
            -0.002220010617747903
        ],
        "speed": 9.654354514343279,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.35219955444336,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 986.8150024414062,
                        "y": 5257.45166015625,
                        "z": 371.9517517089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03814660385251045,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042771339416504,
                "transform": {
                    "location": {
                        "x": 986.9881591796875,
                        "y": 5216.47119140625,
                        "z": 371.62432861328125
                    },
                    "rotation": {
                        "roll": 8.453276677755639e-05,
                        "pitch": 0.018564453348517418,
                        "yaw": -89.87371826171875
                    }
                },
                "velocity": {
                    "x": 0.01525882538408041,
                    "y": -8.042756080627441,
                    "z": 0.0023104476276785135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061812400817871,
                "transform": {
                    "location": {
                        "x": 987.063232421875,
                        "y": 5174.50146484375,
                        "z": 371.6353454589844
                    },
                    "rotation": {
                        "roll": 0.00011269729293417186,
                        "pitch": -0.0143160754814744,
                        "yaw": -89.89983367919922
                    }
                },
                "velocity": {
                    "x": 0.014114624820649624,
                    "y": -8.061800003051758,
                    "z": -0.0019252871861681342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001025036326609552,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.71142578125,
                        "z": 371.6266784667969
                    },
                    "rotation": {
                        "roll": 0.0008661362226121128,
                        "pitch": 0.012328490614891052,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": 5.702222551917657e-06,
                    "y": -3.286409264546819e-05,
                    "z": 0.001024493481963873
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.749686598777771,
                "transform": {
                    "location": {
                        "x": 983.7987060546875,
                        "y": 5247.3212890625,
                        "z": 371.6104736328125
                    },
                    "rotation": {
                        "roll": 0.0006800414994359016,
                        "pitch": -0.0875835120677948,
                        "yaw": 90.67993927001953
                    }
                },
                "velocity": {
                    "x": -0.008360602892935276,
                    "y": 0.7496379613876343,
                    "z": -0.0017319488106295466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.533063888549805,
                "transform": {
                    "location": {
                        "x": 983.7623901367188,
                        "y": 5263.84423828125,
                        "z": 371.60174560546875
                    },
                    "rotation": {
                        "roll": 0.004564179107546806,
                        "pitch": 0.05160890519618988,
                        "yaw": 90.6827392578125
                    }
                },
                "velocity": {
                    "x": -0.05911331996321678,
                    "y": 5.532745361328125,
                    "z": -0.005317506846040487
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.3819459080696106,
        "expert_target_speed": 2.8156247016823097,
        "target_point": [
            25.535357950613975,
            2.369298468720216
        ],
        "target_point_next": [
            41.49289752124688,
            3.534522386972553
        ]
    },
    "225": {
        "acceleration": [
            1.7842864990234375,
            -2.9265785217285156,
            -0.01812400482594967
        ],
        "angular_velocity": [
            0.3453775644302368,
            -0.581241250038147,
            -11.86658000946045
        ],
        "forward_vector": [
            0.11961489915847778,
            0.9927875995635986,
            -0.008067161776125431
        ],
        "right_vector": [
            -0.9927703738212585,
            0.11952338367700577,
            -0.011007112450897694
        ],
        "location": [
            984.6362915039062,
            5218.0634765625,
            371.6221008300781
        ],
        "rotation": [
            0.6306943893432617,
            -0.46221935749053955,
            83.12989807128906
        ],
        "velocity": [
            1.200372338294983,
            8.587372779846191,
            -0.0023675726260989904
        ],
        "speed": 8.670862991109194,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.344822883605957,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.26716211438179016,
                "transform": {
                    "location": {
                        "x": 986.8150024414062,
                        "y": 5257.45166015625,
                        "z": 371.60302734375
                    },
                    "rotation": {
                        "roll": -0.0003356915258336812,
                        "pitch": 0.03792803734540939,
                        "yaw": -89.89772033691406
                    }
                },
                "velocity": {
                    "x": 0.00020472382311709225,
                    "y": -0.00018575384456198663,
                    "z": -0.2671619653701782
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056607246398926,
                "transform": {
                    "location": {
                        "x": 986.9918823242188,
                        "y": 5214.4580078125,
                        "z": 371.62493896484375
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": 0.021446792408823967,
                        "yaw": -89.9078369140625
                    }
                },
                "velocity": {
                    "x": 0.01518274750560522,
                    "y": -8.05659294128418,
                    "z": 0.0019437693990767002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002541542053223,
                "transform": {
                    "location": {
                        "x": 987.0667724609375,
                        "y": 5172.494140625,
                        "z": 371.63482666015625
                    },
                    "rotation": {
                        "roll": -0.0001831056724768132,
                        "pitch": -0.01309347152709961,
                        "yaw": -89.899658203125
                    }
                },
                "velocity": {
                    "x": 0.014018232934176922,
                    "y": -8.002528190612793,
                    "z": -0.0022330093197524548
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015846752794459462,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.71142578125,
                        "z": 371.6266784667969
                    },
                    "rotation": {
                        "roll": 0.0004319168801885098,
                        "pitch": 0.01271781139075756,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": -1.56315272761276e-05,
                    "y": 5.834663625137182e-06,
                    "z": 0.0015845873858779669
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6768136024475098,
                "transform": {
                    "location": {
                        "x": 983.7947998046875,
                        "y": 5247.63037109375,
                        "z": 371.61041259765625
                    },
                    "rotation": {
                        "roll": -0.0015563970664516091,
                        "pitch": 0.06824041903018951,
                        "yaw": 90.7000961303711
                    }
                },
                "velocity": {
                    "x": -0.022052809596061707,
                    "y": 1.676667332649231,
                    "z": -0.0020976352971047163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.920149326324463,
                "transform": {
                    "location": {
                        "x": 983.7478637695312,
                        "y": 5265.47119140625,
                        "z": 371.6005859375
                    },
                    "rotation": {
                        "roll": 0.010569608770310879,
                        "pitch": 0.19069203734397888,
                        "yaw": 90.50626373291016
                    }
                },
                "velocity": {
                    "x": -0.057183098047971725,
                    "y": 6.919910907745361,
                    "z": -0.0057479762472212315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": -0.5131848454475403,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            23.121066419543375,
            3.5841722683022526
        ],
        "target_point_next": [
            39.00276799177034,
            5.526431545202671
        ]
    },
    "230": {
        "acceleration": [
            0.14614105224609375,
            -3.468637466430664,
            -0.009956929832696915
        ],
        "angular_velocity": [
            0.23370467126369476,
            0.9800702929496765,
            -8.916604042053223
        ],
        "forward_vector": [
            0.16835305094718933,
            0.9857032895088196,
            -0.006810135208070278
        ],
        "right_vector": [
            -0.9856848120689392,
            0.16827809810638428,
            -0.010393215343356133
        ],
        "location": [
            984.9669189453125,
            5220.1083984375,
            371.62115478515625
        ],
        "rotation": [
            0.5955119132995605,
            -0.39019501209259033,
            80.30770111083984
        ],
        "velocity": [
            1.4587781429290771,
            7.788320064544678,
            -0.002402467653155327
        ],
        "speed": 7.923759404353266,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.762556076049805,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.10953882336616516,
                "transform": {
                    "location": {
                        "x": 986.8150024414062,
                        "y": 5257.45166015625,
                        "z": 371.6219787597656
                    },
                    "rotation": {
                        "roll": -0.00045776282786391675,
                        "pitch": 0.03772996366024017,
                        "yaw": -89.89772033691406
                    }
                },
                "velocity": {
                    "x": 2.5138675482594408e-05,
                    "y": 6.804472650401294e-05,
                    "z": 0.10953879356384277
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045025825500488,
                "transform": {
                    "location": {
                        "x": 986.9956665039062,
                        "y": 5212.4453125,
                        "z": 371.6256408691406
                    },
                    "rotation": {
                        "roll": 1.826275183702819e-05,
                        "pitch": 0.019472869113087654,
                        "yaw": -89.87779998779297
                    }
                },
                "velocity": {
                    "x": 0.014745639637112617,
                    "y": -8.045011520385742,
                    "z": 0.0021026802714914083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061370849609375,
                "transform": {
                    "location": {
                        "x": 987.0704345703125,
                        "y": 5170.48583984375,
                        "z": 371.6344299316406
                    },
                    "rotation": {
                        "roll": -9.155262523563579e-05,
                        "pitch": -0.013523774221539497,
                        "yaw": -89.8961410522461
                    }
                },
                "velocity": {
                    "x": 0.014702538959681988,
                    "y": -8.061357498168945,
                    "z": -0.0019041919149458408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014014191692695022,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.71142578125,
                        "z": 371.6266784667969
                    },
                    "rotation": {
                        "roll": 0.000191844766959548,
                        "pitch": 0.012601698748767376,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": -1.0045594535768032e-05,
                    "y": 2.291058081027586e-06,
                    "z": 0.0014013813342899084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.835409641265869,
                "transform": {
                    "location": {
                        "x": 983.7872924804688,
                        "y": 5248.18994140625,
                        "z": 371.6101989746094
                    },
                    "rotation": {
                        "roll": -0.0014343233779072762,
                        "pitch": 0.1317543387413025,
                        "yaw": 90.7988052368164
                    }
                },
                "velocity": {
                    "x": -0.03739029914140701,
                    "y": 2.83516263961792,
                    "z": -0.0016660308465361595
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.697239398956299,
                "transform": {
                    "location": {
                        "x": 983.7349853515625,
                        "y": 5267.03125,
                        "z": 371.5992431640625
                    },
                    "rotation": {
                        "roll": 0.0007045598467811942,
                        "pitch": -0.3034038245677948,
                        "yaw": 90.32139587402344
                    }
                },
                "velocity": {
                    "x": -0.043166689574718475,
                    "y": 4.697028160095215,
                    "z": -0.010990295559167862
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": -0.27570995688438416,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            20.84515266312754,
            4.699870543607072
        ],
        "target_point_next": [
            36.61196033269828,
            7.421743398600054
        ]
    },
    "235": {
        "acceleration": [
            -1.5073156356811523,
            -1.8798828125,
            0.009865954518318176
        ],
        "angular_velocity": [
            0.6526057124137878,
            1.9091039896011353,
            3.306154489517212
        ],
        "forward_vector": [
            0.17932263016700745,
            0.9837714433670044,
            -0.006097040139138699
        ],
        "right_vector": [
            -0.9837889075279236,
            0.17930835485458374,
            -0.0028170503210276365
        ],
        "location": [
            985.3048095703125,
            5221.9716796875,
            371.6203308105469
        ],
        "rotation": [
            0.16140830516815186,
            -0.3493368327617645,
            79.66950225830078
        ],
        "velocity": [
            1.2391903400421143,
            7.158937931060791,
            -0.0018103407928720117
        ],
        "speed": 7.2653964103574316,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 4.696953296661377,
        "front_vehicle_info": {
            "id": 5747,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                981.4774780273438,
                5224.6943359375,
                371.6271667480469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3072656393051147,
                "transform": {
                    "location": {
                        "x": 986.8167724609375,
                        "y": 5257.27294921875,
                        "z": 371.6355895996094
                    },
                    "rotation": {
                        "roll": -0.003936775028705597,
                        "pitch": 0.1389123797416687,
                        "yaw": -89.84595489501953
                    }
                },
                "velocity": {
                    "x": 0.016733305528759956,
                    "y": -1.3069273233413696,
                    "z": 0.024587277323007584
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050812721252441,
                "transform": {
                    "location": {
                        "x": 986.999267578125,
                        "y": 5210.43359375,
                        "z": 371.6263122558594
                    },
                    "rotation": {
                        "roll": 0.0001621828123461455,
                        "pitch": 0.02045641466975212,
                        "yaw": -89.91024780273438
                    }
                },
                "velocity": {
                    "x": 0.015123909339308739,
                    "y": -8.050798416137695,
                    "z": 0.0023086927831172943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002189636230469,
                "transform": {
                    "location": {
                        "x": 987.0740356445312,
                        "y": 5168.47802734375,
                        "z": 371.6339416503906
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": -0.012697321362793446,
                        "yaw": -89.8975830078125
                    }
                },
                "velocity": {
                    "x": 0.012669789604842663,
                    "y": -8.002179145812988,
                    "z": -0.0012599753681570292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012562639312818646,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": 0.012478754855692387,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": 5.406456330092624e-05,
                    "y": -2.391049565630965e-05,
                    "z": 0.0012548723025247455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.370697498321533,
                "transform": {
                    "location": {
                        "x": 983.7777099609375,
                        "y": 5249.1025390625,
                        "z": 371.60968017578125
                    },
                    "rotation": {
                        "roll": 0.006608991418033838,
                        "pitch": 0.19067838788032532,
                        "yaw": 90.6818618774414
                    }
                },
                "velocity": {
                    "x": -0.03906065225601196,
                    "y": 4.370522499084473,
                    "z": -0.002164602279663086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7222816944122314,
                "transform": {
                    "location": {
                        "x": 983.7282104492188,
                        "y": 5267.88818359375,
                        "z": 371.598388671875
                    },
                    "rotation": {
                        "roll": 0.006226893048733473,
                        "pitch": -0.26934167742729187,
                        "yaw": 90.29499053955078
                    }
                },
                "velocity": {
                    "x": -0.02483072690665722,
                    "y": 3.7221977710723877,
                    "z": -0.0027899646665900946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": -0.11520133912563324,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            18.897844325057232,
            4.930026128974814
        ],
        "target_point_next": [
            34.63335854478804,
            7.827336635053154
        ]
    },
    "240": {
        "acceleration": [
            -1.8289566040039062,
            -2.5845909118652344,
            0.0026971823535859585
        ],
        "angular_velocity": [
            0.1392924189567566,
            0.9245503544807434,
            11.32161808013916
        ],
        "forward_vector": [
            0.14259862899780273,
            0.9897655844688416,
            -0.005458923522382975
        ],
        "right_vector": [
            -0.9897646307945251,
            0.14262548089027405,
            0.004891600459814072
        ],
        "location": [
            985.5546875,
            5223.6865234375,
            371.6195983886719
        ],
        "rotation": [
            -0.2802733778953552,
            -0.3127748370170593,
            81.80162811279297
        ],
        "velocity": [
            0.7513309121131897,
            6.596083641052246,
            -0.001821870799176395
        ],
        "speed": 6.63873614020424,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 33.162384033203125,
        "front_vehicle_info": {
            "id": 5967,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                986.8212280273438,
                5256.82470703125,
                371.6383972167969
            ],
            "velocity": [
                0.02933821640908718,
                -2.290072202682495,
                0.0056237028911709785
            ],
            "speed_kmh": 8.244961293672656,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.290266990661621,
                "transform": {
                    "location": {
                        "x": 986.8212280273438,
                        "y": 5256.82470703125,
                        "z": 371.6383972167969
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": 0.14551034569740295,
                        "yaw": -89.71025848388672
                    }
                },
                "velocity": {
                    "x": 0.02933821640908718,
                    "y": -2.290072202682495,
                    "z": 0.0056237028911709785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049769401550293,
                "transform": {
                    "location": {
                        "x": 987.0029296875,
                        "y": 5208.4208984375,
                        "z": 371.6269836425781
                    },
                    "rotation": {
                        "roll": -9.155388397630304e-05,
                        "pitch": 0.019787056371569633,
                        "yaw": -89.87957763671875
                    }
                },
                "velocity": {
                    "x": 0.014359683729708195,
                    "y": -8.049756050109863,
                    "z": 0.002323484281077981
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061285018920898,
                "transform": {
                    "location": {
                        "x": 987.0775756835938,
                        "y": 5166.4697265625,
                        "z": 371.633544921875
                    },
                    "rotation": {
                        "roll": 0.0004443153738975525,
                        "pitch": -0.013858453370630741,
                        "yaw": -89.897216796875
                    }
                },
                "velocity": {
                    "x": 0.016243262216448784,
                    "y": -8.061267852783203,
                    "z": -0.002290162956342101
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002492243656888604,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 0.0006022297311574221,
                        "pitch": 0.012608528137207031,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": 6.568288517883047e-05,
                    "y": 2.293322495461325e-06,
                    "z": -0.00024040233984123915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.50653076171875,
                "transform": {
                    "location": {
                        "x": 983.767333984375,
                        "y": 5250.36279296875,
                        "z": 371.6092529296875
                    },
                    "rotation": {
                        "roll": 0.003314041532576084,
                        "pitch": 0.1570601910352707,
                        "yaw": 90.5174560546875
                    }
                },
                "velocity": {
                    "x": -0.04584982246160507,
                    "y": 5.506339073181152,
                    "z": -0.0025760363787412643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.0913004875183105,
                "transform": {
                    "location": {
                        "x": 983.7213134765625,
                        "y": 5269.00244140625,
                        "z": 371.59783935546875
                    },
                    "rotation": {
                        "roll": 0.005884736776351929,
                        "pitch": 0.13075029850006104,
                        "yaw": 90.32007598876953
                    }
                },
                "velocity": {
                    "x": -0.02563329227268696,
                    "y": 5.09123420715332,
                    "z": 0.004576253704726696
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": -0.0024811793118715286,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            17.335224632024097,
            4.226332184597776
        ],
        "target_point_next": [
            33.16763551242337,
            6.5362199832142105
        ]
    },
    "245": {
        "acceleration": [
            -1.9429919719696045,
            -1.3522815704345703,
            0.011725613847374916
        ],
        "angular_velocity": [
            0.31813517212867737,
            0.5286243557929993,
            14.48631477355957
        ],
        "forward_vector": [
            0.08379027992486954,
            0.9964709877967834,
            -0.004975894000381231
        ],
        "right_vector": [
            -0.9964417219161987,
            0.08383139967918396,
            0.00872696004807949
        ],
        "location": [
            985.6848754882812,
            5225.27099609375,
            371.6189270019531
        ],
        "rotation": [
            -0.500030517578125,
            -0.2850989103317261,
            85.19347381591797
        ],
        "velocity": [
            0.2473667711019516,
            6.120031833648682,
            -0.0017128753243014216
        ],
        "speed": 6.1250289766105315,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.837663650512695,
        "front_vehicle_info": {
            "id": 5967,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                986.8295288085938,
                5256.08740234375,
                371.6390686035156
            ],
            "velocity": [
                0.047267846763134,
                -3.6215384006500244,
                0.002041768981143832
            ],
            "speed_kmh": 13.038650747673644,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.62184739112854,
                "transform": {
                    "location": {
                        "x": 986.8295288085938,
                        "y": 5256.08740234375,
                        "z": 371.6390686035156
                    },
                    "rotation": {
                        "roll": -0.002655027899891138,
                        "pitch": 0.17324091494083405,
                        "yaw": -89.56253814697266
                    }
                },
                "velocity": {
                    "x": 0.047267846763134,
                    "y": -3.6215384006500244,
                    "z": 0.002041768981143832
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04881477355957,
                "transform": {
                    "location": {
                        "x": 987.006591796875,
                        "y": 5206.40869140625,
                        "z": 371.6276550292969
                    },
                    "rotation": {
                        "roll": 0.00012377383245620877,
                        "pitch": 0.019329434260725975,
                        "yaw": -89.9082260131836
                    }
                },
                "velocity": {
                    "x": 0.015338212251663208,
                    "y": -8.048799514770508,
                    "z": 0.0023741053882986307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00208568572998,
                "transform": {
                    "location": {
                        "x": 987.0811767578125,
                        "y": 5164.46240234375,
                        "z": 371.6330261230469
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": -0.013305207714438438,
                        "yaw": -89.89852142333984
                    }
                },
                "velocity": {
                    "x": 0.01419014297425747,
                    "y": -8.00207233428955,
                    "z": -0.0020969866309314966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.329200237407349e-05,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 0.0003287416184321046,
                        "pitch": 0.012533396482467651,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": -1.36651851789793e-05,
                    "y": 3.178522320013144e-06,
                    "z": -4.0955550502985716e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.690272808074951,
                "transform": {
                    "location": {
                        "x": 983.7579956054688,
                        "y": 5251.79296875,
                        "z": 371.6081237792969
                    },
                    "rotation": {
                        "roll": 0.0062097408808767796,
                        "pitch": 0.04654773697257042,
                        "yaw": 90.24259948730469
                    }
                },
                "velocity": {
                    "x": -0.03297008201479912,
                    "y": 5.690176963806152,
                    "z": -0.002205371856689453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.727282524108887,
                "transform": {
                    "location": {
                        "x": 983.7152099609375,
                        "y": 5270.22802734375,
                        "z": 371.5969543457031
                    },
                    "rotation": {
                        "roll": -0.0012207047548145056,
                        "pitch": -0.04446452856063843,
                        "yaw": 90.49201965332031
                    }
                },
                "velocity": {
                    "x": -0.026157690212130547,
                    "y": 4.727207183837891,
                    "z": -0.005218915641307831
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.09489656239748001,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            15.96509501486211,
            3.190274980544728
        ],
        "target_point_next": [
            31.90643382580549,
            4.559410781951097
        ]
    },
    "250": {
        "acceleration": [
            -1.0098867416381836,
            -0.9591960906982422,
            -0.01135883666574955
        ],
        "angular_velocity": [
            0.3215525150299072,
            -0.41895490884780884,
            12.06318187713623
        ],
        "forward_vector": [
            0.02704041264951229,
            0.9996274709701538,
            -0.00370978401042521
        ],
        "right_vector": [
            -0.9995972514152527,
            0.027071183547377586,
            0.008511300198733807
        ],
        "location": [
            985.7157592773438,
            5226.75537109375,
            371.6180725097656
        ],
        "rotation": [
            -0.4876708388328552,
            -0.21255546808242798,
            88.45050048828125
        ],
        "velocity": [
            -0.07695596665143967,
            5.823381423950195,
            -0.0023785210214555264
        ],
        "speed": 5.823889888177098,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.27490234375,
        "front_vehicle_info": {
            "id": 5967,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                986.8423461914062,
                5255.0078125,
                371.6396789550781
            ],
            "velocity": [
                0.06539533287286758,
                -4.93898868560791,
                0.0031551073770970106
            ],
            "speed_kmh": 17.78192140352439,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.939422607421875,
                "transform": {
                    "location": {
                        "x": 986.8423461914062,
                        "y": 5255.0078125,
                        "z": 371.6396789550781
                    },
                    "rotation": {
                        "roll": -0.0018310669111087918,
                        "pitch": 0.18245483934879303,
                        "yaw": -89.41901397705078
                    }
                },
                "velocity": {
                    "x": 0.06539533287286758,
                    "y": -4.93898868560791,
                    "z": 0.0031551073770970106
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049689292907715,
                "transform": {
                    "location": {
                        "x": 987.0103759765625,
                        "y": 5204.39599609375,
                        "z": 371.6283264160156
                    },
                    "rotation": {
                        "roll": 1.0367847607994918e-05,
                        "pitch": 0.020080754533410072,
                        "yaw": -89.87872314453125
                    }
                },
                "velocity": {
                    "x": 0.014207841828465462,
                    "y": -8.049676895141602,
                    "z": 0.002009859075769782
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06187629699707,
                "transform": {
                    "location": {
                        "x": 987.084716796875,
                        "y": 5162.4541015625,
                        "z": 371.6326599121094
                    },
                    "rotation": {
                        "roll": 0.00032133448985405266,
                        "pitch": -0.01422045286744833,
                        "yaw": -89.89864349365234
                    }
                },
                "velocity": {
                    "x": 0.01424467097967863,
                    "y": -8.06186294555664,
                    "z": -0.002354259369894862
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002566433104220778,
                "transform": {
                    "location": {
                        "x": 983.8938598632812,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": -6.103480700403452e-05,
                        "pitch": 0.012663169763982296,
                        "yaw": 90.50109100341797
                    }
                },
                "velocity": {
                    "x": 0.00012068269279552624,
                    "y": -2.212093568232376e-05,
                    "z": -0.00022541548241861165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.915280818939209,
                "transform": {
                    "location": {
                        "x": 983.7470703125,
                        "y": 5253.5849609375,
                        "z": 371.6072998046875
                    },
                    "rotation": {
                        "roll": -0.0005493136704899371,
                        "pitch": 0.21095721423625946,
                        "yaw": 90.34037780761719
                    }
                },
                "velocity": {
                    "x": -0.04995862394571304,
                    "y": 7.915120601654053,
                    "z": -0.006560945417732
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.528642654418945,
                "transform": {
                    "location": {
                        "x": 983.7088012695312,
                        "y": 5271.38720703125,
                        "z": 371.5959167480469
                    },
                    "rotation": {
                        "roll": -0.0012817388633266091,
                        "pitch": -0.0785813257098198,
                        "yaw": 90.39128875732422
                    }
                },
                "velocity": {
                    "x": -0.023985957726836205,
                    "y": 4.52857780456543,
                    "z": -0.0035179804544895887
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 1.0015063285827637,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            14.635901190166205,
            2.2687586004964024
        ],
        "target_point_next": [
            30.6292790136596,
            2.7299328874770694
        ]
    },
    "255": {
        "acceleration": [
            -1.5388447046279907,
            1.288003921508789,
            0.004363441839814186
        ],
        "angular_velocity": [
            0.6697494983673096,
            0.22118958830833435,
            12.399364471435547
        ],
        "forward_vector": [
            -0.026392396539449692,
            0.9996508359909058,
            -0.0013043875806033611
        ],
        "right_vector": [
            -0.999616801738739,
            -0.02638055942952633,
            0.008384058251976967
        ],
        "location": [
            985.664794921875,
            5228.21875,
            371.6169128417969
        ],
        "rotation": [
            -0.4803771674633026,
            -0.07473592460155487,
            91.5123519897461
        ],
        "velocity": [
            -0.40938276052474976,
            5.934053421020508,
            -0.001920623704791069
        ],
        "speed": 5.94815805507386,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.501598358154297,
        "front_vehicle_info": {
            "id": 5967,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                986.8585205078125,
                5253.6923828125,
                371.6415100097656
            ],
            "velocity": [
                0.07246177643537521,
                -5.340828895568848,
                0.0024300573859363794
            ],
            "speed_kmh": 19.228755559872365,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.341320991516113,
                "transform": {
                    "location": {
                        "x": 986.8585205078125,
                        "y": 5253.6923828125,
                        "z": 371.6415100097656
                    },
                    "rotation": {
                        "roll": -0.0013427713420242071,
                        "pitch": 0.10643482953310013,
                        "yaw": -89.25604248046875
                    }
                },
                "velocity": {
                    "x": 0.07246177643537521,
                    "y": -5.340828895568848,
                    "z": 0.0024300573859363794
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04922103881836,
                "transform": {
                    "location": {
                        "x": 987.0137939453125,
                        "y": 5202.3837890625,
                        "z": 371.62896728515625
                    },
                    "rotation": {
                        "roll": -0.0003356939705554396,
                        "pitch": 0.019773395732045174,
                        "yaw": -89.91339874267578
                    }
                },
                "velocity": {
                    "x": 0.014365448616445065,
                    "y": -8.049208641052246,
                    "z": 0.001418104162439704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001543998718262,
                "transform": {
                    "location": {
                        "x": 987.0882568359375,
                        "y": 5160.4462890625,
                        "z": 371.63214111328125
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": -0.013366679660975933,
                        "yaw": -89.89874267578125
                    }
                },
                "velocity": {
                    "x": 0.014134340919554234,
                    "y": -8.001531600952148,
                    "z": -0.001536893774755299
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.463839054107666,
                "transform": {
                    "location": {
                        "x": 983.7369995117188,
                        "y": 5255.54443359375,
                        "z": 371.6056823730469
                    },
                    "rotation": {
                        "roll": 0.0031606571283191442,
                        "pitch": -0.032136037945747375,
                        "yaw": 90.28553009033203
                    }
                },
                "velocity": {
                    "x": -0.035504672676324844,
                    "y": 7.463752746582031,
                    "z": -0.005640639923512936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.527072906494141,
                "transform": {
                    "location": {
                        "x": 983.7030029296875,
                        "y": 5272.52880859375,
                        "z": 371.59515380859375
                    },
                    "rotation": {
                        "roll": 0.0005268852692097425,
                        "pitch": -0.05212116986513138,
                        "yaw": 90.32963562011719
                    }
                },
                "velocity": {
                    "x": -0.02196364849805832,
                    "y": 4.527019023895264,
                    "z": -0.0023247336503118277
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.9991869330406189,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            13.271977255739342,
            1.4714336177990572
        ],
        "target_point_next": [
            29.26715687668225,
            1.0776763045270885
        ]
    },
    "260": {
        "acceleration": [
            -0.8182179927825928,
            1.5164375305175781,
            0.005397414788603783
        ],
        "angular_velocity": [
            0.4685889482498169,
            -0.41993463039398193,
            10.035112380981445
        ],
        "forward_vector": [
            -0.07540107518434525,
            0.99715256690979,
            0.0011802909430116415
        ],
        "right_vector": [
            -0.997124969959259,
            -0.07540780305862427,
            0.007442926988005638
        ],
        "location": [
            985.537841796875,
            5229.74853515625,
            371.61572265625
        ],
        "rotation": [
            -0.42645254731178284,
            0.06762570142745972,
            94.32427215576172
        ],
        "velocity": [
            -0.677484929561615,
            6.303286552429199,
            -0.0021311186719685793
        ],
        "speed": 6.339590459313431,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.572280883789062,
        "front_vehicle_info": {
            "id": 5967,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                986.8734741210938,
                5252.28125,
                371.6422424316406
            ],
            "velocity": [
                0.05151745304465294,
                -6.288456439971924,
                0.003046398051083088
            ],
            "speed_kmh": 22.63920551892447,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.288668155670166,
                "transform": {
                    "location": {
                        "x": 986.8734741210938,
                        "y": 5252.28125,
                        "z": 371.6422424316406
                    },
                    "rotation": {
                        "roll": 0.006670288275927305,
                        "pitch": 0.10759596526622772,
                        "yaw": -89.35382080078125
                    }
                },
                "velocity": {
                    "x": 0.05151745304465294,
                    "y": -6.288456439971924,
                    "z": 0.003046398051083088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04948902130127,
                "transform": {
                    "location": {
                        "x": 987.0174560546875,
                        "y": 5200.37158203125,
                        "z": 371.629638671875
                    },
                    "rotation": {
                        "roll": 0.00037932314444333315,
                        "pitch": 0.019930491223931313,
                        "yaw": -89.87828826904297
                    }
                },
                "velocity": {
                    "x": 0.0145281832665205,
                    "y": -8.04947566986084,
                    "z": 0.0021921442821621895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0919189453125,
                        "y": 5158.42333984375,
                        "z": 371.6316833496094
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.807584762573242,
                "transform": {
                    "location": {
                        "x": 983.7294921875,
                        "y": 5257.23974609375,
                        "z": 371.6042785644531
                    },
                    "rotation": {
                        "roll": 0.0013953979359939694,
                        "pitch": -0.23404325544834137,
                        "yaw": 90.23896789550781
                    }
                },
                "velocity": {
                    "x": -0.024589695036411285,
                    "y": 5.807529926300049,
                    "z": -0.005039348267018795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7073755264282227,
                "transform": {
                    "location": {
                        "x": 983.697998046875,
                        "y": 5273.58984375,
                        "z": 371.5943298339844
                    },
                    "rotation": {
                        "roll": 0.0013021108461543918,
                        "pitch": -0.17517384886741638,
                        "yaw": 90.29830169677734
                    }
                },
                "velocity": {
                    "x": -0.01695653609931469,
                    "y": 3.7073357105255127,
                    "z": -0.002885160269215703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 1.00029456615448,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            11.793177285738512,
            0.8073608439308498
        ],
        "target_point_next": [
            27.74978425936564,
            -0.37056522216008214
        ]
    },
    "265": {
        "acceleration": [
            -0.6017911434173584,
            2.427349090576172,
            0.004872707650065422
        ],
        "angular_velocity": [
            0.3524094521999359,
            -0.471480131149292,
            5.139172554016113
        ],
        "forward_vector": [
            -0.10825049877166748,
            0.9941198229789734,
            0.0027356110513210297
        ],
        "right_vector": [
            -0.9941104650497437,
            -0.108262799680233,
            0.004840523935854435
        ],
        "location": [
            985.3525390625,
            5231.39111328125,
            371.61468505859375
        ],
        "rotation": [
            -0.2773437201976776,
            0.15673917531967163,
            96.2145004272461
        ],
        "velocity": [
            -0.8442184329032898,
            6.820775032043457,
            -0.0019729994237422943
        ],
        "speed": 6.872821603984866,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 26.645864486694336,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.726318359375,
                5257.9873046875,
                371.60284423828125
            ],
            "velocity": [
                -0.0037502634804695845,
                1.015332579612732,
                -0.0005657005240209401
            ],
            "speed_kmh": 3.6552227876072414,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.310029983520508,
                "transform": {
                    "location": {
                        "x": 986.8896484375,
                        "y": 5250.37744140625,
                        "z": 371.642333984375
                    },
                    "rotation": {
                        "roll": 0.003538919147104025,
                        "pitch": 0.22542354464530945,
                        "yaw": -89.505615234375
                    }
                },
                "velocity": {
                    "x": 0.0631515309214592,
                    "y": -8.30978775024414,
                    "z": 0.006119356025010347
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050188064575195,
                "transform": {
                    "location": {
                        "x": 987.0209350585938,
                        "y": 5198.359375,
                        "z": 371.63031005859375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.019834868609905243,
                        "yaw": -89.91351318359375
                    }
                },
                "velocity": {
                    "x": 0.014544259756803513,
                    "y": -8.050174713134766,
                    "z": 0.0019089507404714823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0536499023438,
                        "y": 5156.34033203125,
                        "z": 371.6297912597656
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": -0.013182264752686024,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.015339732170105,
                "transform": {
                    "location": {
                        "x": 983.726318359375,
                        "y": 5257.9873046875,
                        "z": 371.60284423828125
                    },
                    "rotation": {
                        "roll": 0.005220354534685612,
                        "pitch": -0.7172859311103821,
                        "yaw": 90.0091552734375
                    }
                },
                "velocity": {
                    "x": -0.0037502634804695845,
                    "y": 1.015332579612732,
                    "z": -0.0005657005240209401
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.1375722885131836,
                "transform": {
                    "location": {
                        "x": 983.7081298828125,
                        "y": 5274.32421875,
                        "z": 371.59375
                    },
                    "rotation": {
                        "roll": 0.017757173627614975,
                        "pitch": -0.31655874848365784,
                        "yaw": 89.79119873046875
                    }
                },
                "velocity": {
                    "x": 0.037482429295778275,
                    "y": 2.1372430324554443,
                    "z": -0.001700658816844225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.7592695951461792,
        "expert_target_speed": 7.684228659379567,
        "target_point": [
            10.160406187678346,
            0.41151314171058173
        ],
        "target_point_next": [
            26.069475301574297,
            -1.2921111881415515
        ]
    },
    "270": {
        "acceleration": [
            0.03428936004638672,
            1.9800090789794922,
            0.014714431017637253
        ],
        "angular_velocity": [
            0.17423796653747559,
            -0.628838300704956,
            0.04867846146225929
        ],
        "forward_vector": [
            -0.11818818747997284,
            0.99298495054245,
            0.0035457536578178406
        ],
        "right_vector": [
            -0.992989182472229,
            -0.11819449067115784,
            0.00162505020853132
        ],
        "location": [
            985.1388549804688,
            5233.16845703125,
            371.61376953125
        ],
        "rotation": [
            -0.0931091383099556,
            0.20315714180469513,
            96.78759002685547
        ],
        "velocity": [
            -0.8792354464530945,
            7.3689165115356445,
            -0.0018148231320083141
        ],
        "speed": 7.421184913764258,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 25.2958927154541,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.7250366210938,
                5258.4248046875,
                371.60345458984375
            ],
            "velocity": [
                -0.00496832188218832,
                2.287281036376953,
                -0.0015248298877850175
            ],
            "speed_kmh": 8.2342329862063,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.828678131103516,
                "transform": {
                    "location": {
                        "x": 986.905517578125,
                        "y": 5248.32666015625,
                        "z": 371.6451416015625
                    },
                    "rotation": {
                        "roll": 0.0022917240858078003,
                        "pitch": 0.042060304433107376,
                        "yaw": -89.5672607421875
                    }
                },
                "velocity": {
                    "x": 0.057773035019636154,
                    "y": -7.828463077545166,
                    "z": 0.005384569056332111
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048834800720215,
                "transform": {
                    "location": {
                        "x": 987.0245971679688,
                        "y": 5196.34716796875,
                        "z": 371.6309814453125
                    },
                    "rotation": {
                        "roll": -0.0006408688495866954,
                        "pitch": 0.019739245995879173,
                        "yaw": -89.87872314453125
                    }
                },
                "velocity": {
                    "x": 0.014314074069261551,
                    "y": -8.048821449279785,
                    "z": 0.0022916793823242188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5948,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.015380859375,
                        "y": 5154.2568359375,
                        "z": 371.62786865234375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": -0.013182264752686024,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2872869968414307,
                "transform": {
                    "location": {
                        "x": 983.7250366210938,
                        "y": 5258.4248046875,
                        "z": 371.60345458984375
                    },
                    "rotation": {
                        "roll": 0.0011866529239341617,
                        "pitch": -0.0766005665063858,
                        "yaw": 90.02571105957031
                    }
                },
                "velocity": {
                    "x": -0.00496832188218832,
                    "y": 2.287281036376953,
                    "z": -0.0015248298877850175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.006390835624188185,
                "transform": {
                    "location": {
                        "x": 983.7090454101562,
                        "y": 5274.4072265625,
                        "z": 371.5936584472656
                    },
                    "rotation": {
                        "roll": -0.006652867421507835,
                        "pitch": -0.4095381200313568,
                        "yaw": 89.61861419677734
                    }
                },
                "velocity": {
                    "x": -0.0004826647636946291,
                    "y": -0.0061376867815852165,
                    "z": -0.0017142394790425897
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.7392182350158691,
        "expert_target_speed": 8.122581704318668,
        "target_point": [
            8.373872157629071,
            0.30774672249289636
        ],
        "target_point_next": [
            24.26510633039089,
            -1.5549106250697924
        ]
    },
    "275": {
        "acceleration": [
            0.30091404914855957,
            2.3511600494384766,
            -0.0006738677620887756
        ],
        "angular_velocity": [
            0.06757347285747528,
            -0.5216543078422546,
            -2.7586708068847656
        ],
        "forward_vector": [
            -0.11166313290596008,
            0.9937391877174377,
            0.0037201554514467716
        ],
        "right_vector": [
            -0.9937460422515869,
            -0.11166083812713623,
            -0.000820853456389159
        ],
        "location": [
            984.9220581054688,
            5235.08349609375,
            371.61285400390625
        ],
        "rotation": [
            0.04703177139163017,
            0.21314969658851624,
            96.41123962402344
        ],
        "velocity": [
            -0.8430231213569641,
            7.921197891235352,
            -0.002293386496603489
        ],
        "speed": 7.9659314593620385,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.128910064697266,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.7235107421875,
                5259.1826171875,
                371.603271484375
            ],
            "velocity": [
                -0.008067748509347439,
                3.611812114715576,
                -0.0019252680940553546
            ],
            "speed_kmh": 13.002557898048122,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.329033374786377,
                "transform": {
                    "location": {
                        "x": 986.9157104492188,
                        "y": 5246.5517578125,
                        "z": 371.6473083496094
                    },
                    "rotation": {
                        "roll": 0.0033846793230623007,
                        "pitch": -0.08819139748811722,
                        "yaw": -89.67529296875
                    }
                },
                "velocity": {
                    "x": 0.027919558808207512,
                    "y": -6.328970432281494,
                    "z": 0.00445246696472168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049724578857422,
                "transform": {
                    "location": {
                        "x": 987.028076171875,
                        "y": 5194.3349609375,
                        "z": 371.6316223144531
                    },
                    "rotation": {
                        "roll": 0.0006436844705604017,
                        "pitch": 0.018885472789406776,
                        "yaw": -89.91301727294922
                    }
                },
                "velocity": {
                    "x": 0.013802364468574524,
                    "y": -8.049712181091309,
                    "z": 0.0021861172281205654
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6118216514587402,
                "transform": {
                    "location": {
                        "x": 983.7235107421875,
                        "y": 5259.1826171875,
                        "z": 371.603271484375
                    },
                    "rotation": {
                        "roll": -0.0006103494088165462,
                        "pitch": 0.1196102648973465,
                        "yaw": 90.06236267089844
                    }
                },
                "velocity": {
                    "x": -0.008067748509347439,
                    "y": 3.611812114715576,
                    "z": -0.0019252680940553546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0021862746216356754,
                "transform": {
                    "location": {
                        "x": 983.7091064453125,
                        "y": 5274.4091796875,
                        "z": 371.59368896484375
                    },
                    "rotation": {
                        "roll": -0.0008239803137257695,
                        "pitch": -0.12841437757015228,
                        "yaw": 89.61846160888672
                    }
                },
                "velocity": {
                    "x": -0.0005863515543751419,
                    "y": -0.0016796200070530176,
                    "z": -0.0012707735877484083
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.598689079284668,
        "expert_target_speed": 8.538049065507623,
        "target_point": [
            22.34752461508759,
            -1.3971053891002598
        ],
        "target_point_next": [
            22.34752461508759,
            -1.3971053891002598
        ]
    },
    "280": {
        "acceleration": [
            0.382843017578125,
            1.4299774169921875,
            -0.0016868626698851585
        ],
        "angular_velocity": [
            -0.1258733570575714,
            -0.17719486355781555,
            -3.7174558639526367
        ],
        "forward_vector": [
            -0.09672656655311584,
            0.9953054189682007,
            0.003328793914988637
        ],
        "right_vector": [
            -0.9953088164329529,
            -0.09671885520219803,
            -0.0024044944439083338
        ],
        "location": [
            984.7202758789062,
            5237.12255859375,
            371.6119689941406
        ],
        "rotation": [
            0.13776828348636627,
            0.19072619080543518,
            95.55073547363281
        ],
        "velocity": [
            -0.7547037601470947,
            8.364624977111816,
            -0.0031147385016083717
        ],
        "speed": 8.398602786970164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 22.888992309570312,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.721435546875,
                5259.98974609375,
                371.6024475097656
            ],
            "velocity": [
                -0.006700778380036354,
                2.670691967010498,
                -0.001585140242241323
            ],
            "speed_kmh": 9.614523036790924,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5971,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.7723083496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.017225736752152443,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.758031845092773,
                "transform": {
                    "location": {
                        "x": 986.9224853515625,
                        "y": 5245.07177734375,
                        "z": 371.6478576660156
                    },
                    "rotation": {
                        "roll": 0.000696304312441498,
                        "pitch": -0.04947105795145035,
                        "yaw": -89.73131561279297
                    }
                },
                "velocity": {
                    "x": 0.023637689650058746,
                    "y": -5.757983207702637,
                    "z": 0.00188134191557765
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04971981048584,
                "transform": {
                    "location": {
                        "x": 987.0316772460938,
                        "y": 5192.322265625,
                        "z": 371.63214111328125
                    },
                    "rotation": {
                        "roll": 0.00023162235447671264,
                        "pitch": 0.013243735767900944,
                        "yaw": -89.87997436523438
                    }
                },
                "velocity": {
                    "x": 0.014266934245824814,
                    "y": -8.04970645904541,
                    "z": 0.0020180130377411842
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.670700788497925,
                "transform": {
                    "location": {
                        "x": 983.721435546875,
                        "y": 5259.98974609375,
                        "z": 371.6024475097656
                    },
                    "rotation": {
                        "roll": -0.0017395031172782183,
                        "pitch": -0.10284215211868286,
                        "yaw": 90.09335327148438
                    }
                },
                "velocity": {
                    "x": -0.006700778380036354,
                    "y": 2.670691967010498,
                    "z": -0.001585140242241323
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009452762897126377,
                "transform": {
                    "location": {
                        "x": 983.7091064453125,
                        "y": 5274.4091796875,
                        "z": 371.59368896484375
                    },
                    "rotation": {
                        "roll": -0.00012206970859551802,
                        "pitch": -0.068144790828228,
                        "yaw": 89.61846160888672
                    }
                },
                "velocity": {
                    "x": 7.786553032929078e-05,
                    "y": -0.00027641214546747506,
                    "z": 0.0009006001055240631
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.4556921422481537,
        "expert_target_speed": 8.85133314405582,
        "target_point": [
            20.316968456643476,
            -1.0649078056528012
        ],
        "target_point_next": [
            20.316968456643476,
            -1.0649078056528012
        ]
    },
    "285": {
        "acceleration": [
            0.7374584674835205,
            0.7252693176269531,
            -0.014240648597478867
        ],
        "angular_velocity": [
            -0.33892539143562317,
            -0.34199219942092896,
            -4.896426677703857
        ],
        "forward_vector": [
            -0.07785142213106155,
            0.9969621896743774,
            0.002351639326661825
        ],
        "right_vector": [
            -0.9969587922096252,
            -0.07784245908260345,
            -0.003688089083880186
        ],
        "location": [
            984.546630859375,
            5239.2587890625,
            371.6112060546875
        ],
        "rotation": [
            0.21131299436092377,
            0.13473913073539734,
            94.465087890625
        ],
        "velocity": [
            -0.6011894345283508,
            8.65261173248291,
            -0.005207881797105074
        ],
        "speed": 8.673472114977336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 21.066003799438477,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.720703125,
                5260.30859375,
                371.6017761230469
            ],
            "velocity": [
                0.00019293167861178517,
                -0.0018268771236762404,
                -0.00114057632163167
            ],
            "speed_kmh": 0.007784343026874595,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5971,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.1003977358341217,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.61053466796875
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.018024867400527,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0001645461015868932,
                    "y": 3.342085983604193e-05,
                    "z": -0.10039760172367096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.36093282699585,
                "transform": {
                    "location": {
                        "x": 986.9288330078125,
                        "y": 5243.58154296875,
                        "z": 371.6477966308594
                    },
                    "rotation": {
                        "roll": -0.00012206798419356346,
                        "pitch": 0.042763810604810715,
                        "yaw": -89.75286102294922
                    }
                },
                "velocity": {
                    "x": 0.027438011020421982,
                    "y": -6.360873222351074,
                    "z": 0.002968759508803487
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049670219421387,
                "transform": {
                    "location": {
                        "x": 987.0352172851562,
                        "y": 5190.31005859375,
                        "z": 371.6325378417969
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": 0.011208339594304562,
                        "yaw": -89.91342163085938
                    }
                },
                "velocity": {
                    "x": 0.014469563961029053,
                    "y": -8.049656867980957,
                    "z": 0.002546281786635518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0021623175125569105,
                "transform": {
                    "location": {
                        "x": 983.720703125,
                        "y": 5260.30859375,
                        "z": 371.6017761230469
                    },
                    "rotation": {
                        "roll": -0.0016479199985042214,
                        "pitch": -0.4161634147167206,
                        "yaw": 90.17339324951172
                    }
                },
                "velocity": {
                    "x": 0.00019293167861178517,
                    "y": -0.0018268771236762404,
                    "z": -0.00114057632163167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002593044191598892,
                "transform": {
                    "location": {
                        "x": 983.7091064453125,
                        "y": 5274.40966796875,
                        "z": 371.59375
                    },
                    "rotation": {
                        "roll": 0.00035545011633075774,
                        "pitch": -0.05108298361301422,
                        "yaw": 89.61844635009766
                    }
                },
                "velocity": {
                    "x": -0.00012052475358359516,
                    "y": -0.00016016695008147508,
                    "z": 0.00016449656686745584
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.3799428641796112,
        "expert_target_speed": 9.040062938941883,
        "target_point": [
            18.190232331311236,
            -0.6865912463108581
        ],
        "target_point_next": [
            18.190232331311236,
            -0.6865912463108581
        ]
    },
    "290": {
        "acceleration": [
            0.6364655494689941,
            -0.2916717529296875,
            0.007221410050988197
        ],
        "angular_velocity": [
            -0.3534834682941437,
            0.008050484582781792,
            -4.446695327758789
        ],
        "forward_vector": [
            -0.05720176920294762,
            0.9983624815940857,
            0.0005795954493805766
        ],
        "right_vector": [
            -0.9983541965484619,
            -0.057198893278837204,
            -0.004137847572565079
        ],
        "location": [
            984.4146728515625,
            5241.42138671875,
            371.61041259765625
        ],
        "rotation": [
            0.23708193004131317,
            0.03320837765932083,
            93.27921295166016
        ],
        "velocity": [
            -0.43182775378227234,
            8.649031639099121,
            -0.005398435518145561
        ],
        "speed": 8.659805049946232,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.053678512573242,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.7201538085938,
                5260.46240234375,
                371.6021728515625
            ],
            "velocity": [
                -0.0040594139136374,
                1.0818161964416504,
                -0.0020032215397804976
            ],
            "speed_kmh": 3.8945724025998745,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5971,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.03414498642086983,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.6120300292969
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.01810683123767376,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.00011370258289389312,
                    "y": 1.314586006628815e-05,
                    "z": 0.03414479270577431
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.468664169311523,
                "transform": {
                    "location": {
                        "x": 986.9357299804688,
                        "y": 5241.6455078125,
                        "z": 371.6473388671875
                    },
                    "rotation": {
                        "roll": 0.0018124202033504844,
                        "pitch": 0.21080011129379272,
                        "yaw": -89.80055236816406
                    }
                },
                "velocity": {
                    "x": 0.0247296541929245,
                    "y": -8.468626976013184,
                    "z": 0.004593925550580025
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049549102783203,
                "transform": {
                    "location": {
                        "x": 987.0388793945312,
                        "y": 5188.2978515625,
                        "z": 371.6327209472656
                    },
                    "rotation": {
                        "roll": 0.0006692276219837368,
                        "pitch": 0.0047606416046619415,
                        "yaw": -89.87872314453125
                    }
                },
                "velocity": {
                    "x": 0.01439983956515789,
                    "y": -8.049535751342773,
                    "z": 0.0018761253450065851
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.081825613975525,
                "transform": {
                    "location": {
                        "x": 983.7201538085938,
                        "y": 5260.46240234375,
                        "z": 371.6021728515625
                    },
                    "rotation": {
                        "roll": 0.0006323461420834064,
                        "pitch": -0.025025811046361923,
                        "yaw": 90.19697570800781
                    }
                },
                "velocity": {
                    "x": -0.0040594139136374,
                    "y": 1.0818161964416504,
                    "z": -0.0020032215397804976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.824904554989189e-05,
                "transform": {
                    "location": {
                        "x": 983.7091064453125,
                        "y": 5274.40966796875,
                        "z": 371.59375
                    },
                    "rotation": {
                        "roll": 0.0005698957247659564,
                        "pitch": -0.047394681721925735,
                        "yaw": 89.61844635009766
                    }
                },
                "velocity": {
                    "x": -7.641794945811853e-05,
                    "y": -5.164586036698893e-05,
                    "z": 3.385080708540045e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.3160073161125183,
        "expert_target_speed": 9.021351023659749,
        "target_point": [
            16.033941051341735,
            -0.318015220868467
        ],
        "target_point_next": [
            16.033941051341735,
            -0.318015220868467
        ]
    },
    "295": {
        "acceleration": [
            0.6633192300796509,
            0.3388214111328125,
            -0.00539073720574379
        ],
        "angular_velocity": [
            -0.04268275573849678,
            -0.02037731558084488,
            -4.390370845794678
        ],
        "forward_vector": [
            -0.03786449506878853,
            0.9992828965187073,
            -0.00015401838754769415
        ],
        "right_vector": [
            -0.9992738366127014,
            -0.0378648079931736,
            -0.004255881067365408
        ],
        "location": [
            984.3247680664062,
            5243.5859375,
            371.609375
        ],
        "rotation": [
            0.24384477734565735,
            -0.008824603632092476,
            92.16999816894531
        ],
        "velocity": [
            -0.2640473544597626,
            8.67310619354248,
            -0.006014032289385796
        ],
        "speed": 8.677124641830503,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.266986846923828,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.71875,
                5260.84228515625,
                371.6020202636719
            ],
            "velocity": [
                -0.006543222349137068,
                1.923663854598999,
                -0.0014358138432726264
            ],
            "speed_kmh": 6.92523186691303,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5971,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.015680473297834396,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.6182861328125
                    },
                    "rotation": {
                        "roll": -0.00021362183906603605,
                        "pitch": 0.01821611262857914,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.00025869300588965416,
                    "y": -2.5855003968899837e-06,
                    "z": 0.015678338706493378
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025665283203125,
                "transform": {
                    "location": {
                        "x": 986.9420166015625,
                        "y": 5239.572265625,
                        "z": 371.64990234375
                    },
                    "rotation": {
                        "roll": 0.00024290531291626394,
                        "pitch": 0.03797585144639015,
                        "yaw": -89.83099365234375
                    }
                },
                "velocity": {
                    "x": 0.022243784740567207,
                    "y": -8.025632858276367,
                    "z": 0.00523174274712801
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050192832946777,
                "transform": {
                    "location": {
                        "x": 987.0424194335938,
                        "y": 5186.28564453125,
                        "z": 371.63287353515625
                    },
                    "rotation": {
                        "roll": 0.000161738193128258,
                        "pitch": -0.005436830222606659,
                        "yaw": -89.91231536865234
                    }
                },
                "velocity": {
                    "x": 0.013909310102462769,
                    "y": -8.05018138885498,
                    "z": -9.186744136968628e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.923675537109375,
                "transform": {
                    "location": {
                        "x": 983.71875,
                        "y": 5260.84228515625,
                        "z": 371.6020202636719
                    },
                    "rotation": {
                        "roll": -0.0012817385140806437,
                        "pitch": 0.06951083242893219,
                        "yaw": 90.21269989013672
                    }
                },
                "velocity": {
                    "x": -0.006543222349137068,
                    "y": 1.923663854598999,
                    "z": -0.0014358138432726264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007982251117937267,
                "transform": {
                    "location": {
                        "x": 983.7091064453125,
                        "y": 5274.40966796875,
                        "z": 371.59375
                    },
                    "rotation": {
                        "roll": 0.0003270070592407137,
                        "pitch": -0.04610377550125122,
                        "yaw": 89.61844635009766
                    }
                },
                "velocity": {
                    "x": 0.00010344284964958206,
                    "y": 3.085235948674381e-05,
                    "z": 0.0007908925763331354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.30344492197036743,
        "expert_target_speed": 9.023227666505147,
        "target_point": [
            13.870689950248693,
            -0.015449447162476093
        ],
        "target_point_next": [
            13.870689950248693,
            -0.015449447162476093
        ]
    },
    "300": {
        "acceleration": [
            0.3480339050292969,
            -0.4809379577636719,
            -0.008061220869421959
        ],
        "angular_velocity": [
            -0.15221180021762848,
            0.2456391155719757,
            -3.012892484664917
        ],
        "forward_vector": [
            -0.021776307374238968,
            0.999762773513794,
            -0.0005055665969848633
        ],
        "right_vector": [
            -0.999756395816803,
            -0.021777985617518425,
            -0.003594436449930072
        ],
        "location": [
            984.2713012695312,
            5245.7509765625,
            371.6082458496094
        ],
        "rotation": [
            0.20594650506973267,
            -0.028966831043362617,
            91.24778747558594
        ],
        "velocity": [
            -0.14581386744976044,
            8.63969612121582,
            -0.006043748930096626
        ],
        "speed": 8.640926498408161,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.660209655761719,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.7168579101562,
                5261.4013671875,
                371.6015930175781
            ],
            "velocity": [
                -0.007145628798753023,
                2.137148141860962,
                -0.001762018189765513
            ],
            "speed_kmh": 7.69377893046877,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5971,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005762947257608175,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.62042236328125
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": 0.01831173524260521,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0001549567823531106,
                    "y": -2.4878883664314344e-07,
                    "z": 0.005760863423347473
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.841778755187988,
                "transform": {
                    "location": {
                        "x": 986.947265625,
                        "y": 5237.61474609375,
                        "z": 371.651123046875
                    },
                    "rotation": {
                        "roll": 0.0015280843945220113,
                        "pitch": 0.014555132016539574,
                        "yaw": -89.85027313232422
                    }
                },
                "velocity": {
                    "x": 0.0178277138620615,
                    "y": -7.841756820678711,
                    "z": 0.0055906581692397594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049553871154785,
                "transform": {
                    "location": {
                        "x": 987.0458984375,
                        "y": 5184.27294921875,
                        "z": 371.6326904296875
                    },
                    "rotation": {
                        "roll": -0.00039672813727520406,
                        "pitch": -0.005279736127704382,
                        "yaw": -89.8814926147461
                    }
                },
                "velocity": {
                    "x": 0.014875946566462517,
                    "y": -8.049539566040039,
                    "z": -0.001550054526887834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1371610164642334,
                "transform": {
                    "location": {
                        "x": 983.7168579101562,
                        "y": 5261.4013671875,
                        "z": 371.6015930175781
                    },
                    "rotation": {
                        "roll": -0.00033569312654435635,
                        "pitch": 0.01403603795915842,
                        "yaw": 90.21733093261719
                    }
                },
                "velocity": {
                    "x": -0.007145628798753023,
                    "y": 2.137148141860962,
                    "z": -0.001762018189765513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010450474655954167,
                "transform": {
                    "location": {
                        "x": 983.7091064453125,
                        "y": 5274.40966796875,
                        "z": 371.59375
                    },
                    "rotation": {
                        "roll": 0.001531678601168096,
                        "pitch": -0.045434415340423584,
                        "yaw": 89.61844635009766
                    }
                },
                "velocity": {
                    "x": 0.00010010132973548025,
                    "y": 2.7548987873160513e-06,
                    "z": 2.9889413781347685e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.2891078591346741,
        "expert_target_speed": 0,
        "target_point": [
            11.703451795924716,
            0.20150065650507354
        ],
        "target_point_next": [
            11.703451795924716,
            0.20150065650507354
        ]
    },
    "305": {
        "acceleration": [
            -0.08949577808380127,
            -0.051422119140625,
            0.012784954160451889
        ],
        "angular_velocity": [
            -0.020527612417936325,
            0.46107274293899536,
            -0.24114595353603363
        ],
        "forward_vector": [
            -0.014888846315443516,
            0.9998887181282043,
            -0.0009113548439927399
        ],
        "right_vector": [
            -0.9998875856399536,
            -0.014890430495142937,
            -0.00175716751255095
        ],
        "location": [
            984.2369995117188,
            5247.90283203125,
            371.6070861816406
        ],
        "rotation": [
            0.10067837685346603,
            -0.0522167943418026,
            90.85310363769531
        ],
        "velocity": [
            -0.12695734202861786,
            8.577155113220215,
            -0.005488939117640257
        ],
        "speed": 8.578094660408839,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.639330863952637,
        "front_vehicle_info": {
            "id": 5753,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                983.7164916992188,
                5261.5322265625,
                371.6012878417969
            ],
            "velocity": [
                -0.0013566433917731047,
                0.5671773552894592,
                -0.001681480323895812
            ],
            "speed_kmh": 2.0418532929493995,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 5971,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0017690234817564487,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.620849609375
                    },
                    "rotation": {
                        "roll": -0.00033569312654435635,
                        "pitch": 0.01803852804005146,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -3.4379903809167445e-05,
                    "y": 1.363612409477355e-05,
                    "z": 0.0017686368664726615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5967,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.2158842086792,
                "transform": {
                    "location": {
                        "x": 986.9521484375,
                        "y": 5235.59130859375,
                        "z": 371.6517639160156
                    },
                    "rotation": {
                        "roll": 0.0008320544147863984,
                        "pitch": 0.052797358483076096,
                        "yaw": -89.86186981201172
                    }
                },
                "velocity": {
                    "x": 0.017693400382995605,
                    "y": -8.215863227844238,
                    "z": 0.005222120322287083
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5962,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049195289611816,
                "transform": {
                    "location": {
                        "x": 987.0494384765625,
                        "y": 5182.2607421875,
                        "z": 371.63232421875
                    },
                    "rotation": {
                        "roll": -6.103564373916015e-05,
                        "pitch": -0.009220754727721214,
                        "yaw": -89.91368865966797
                    }
                },
                "velocity": {
                    "x": 0.014640765264630318,
                    "y": -8.049181938171387,
                    "z": -0.0016525554237887263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5755,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.893798828125,
                        "y": 5157.71142578125,
                        "z": 371.626708984375
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012792943976819515,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5754,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8541870117188,
                        "y": 5179.5634765625,
                        "z": 371.6285095214844
                    },
                    "rotation": {
                        "roll": 0.000965493090916425,
                        "pitch": -0.03854275494813919,
                        "yaw": 90.090576171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5753,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5671814680099487,
                "transform": {
                    "location": {
                        "x": 983.7164916992188,
                        "y": 5261.5322265625,
                        "z": 371.6012878417969
                    },
                    "rotation": {
                        "roll": -0.0020446765702217817,
                        "pitch": -0.16867151856422424,
                        "yaw": 90.25912475585938
                    }
                },
                "velocity": {
                    "x": -0.0013566433917731047,
                    "y": 0.5671773552894592,
                    "z": -0.001681480323895812
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5752,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.180370110087097e-05,
                "transform": {
                    "location": {
                        "x": 983.7091064453125,
                        "y": 5274.40966796875,
                        "z": 371.59375
                    },
                    "rotation": {
                        "roll": 0.00040285621071234345,
                        "pitch": -0.045133888721466064,
                        "yaw": 89.61844635009766
                    }
                },
                "velocity": {
                    "x": 1.4395566722669173e-05,
                    "y": 4.912791609967826e-06,
                    "z": 5.9902671637246385e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5747,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.4774780273438,
                        "y": 5224.6943359375,
                        "z": 371.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0838928148150444,
                        "pitch": -0.039580944925546646,
                        "yaw": 90.10172271728516
                    }
                },
                "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": 0.268722802400589,
        "expert_target_speed": 7.867278316506952,
        "target_point": [
            9.549659138168735,
            0.27982940811547097
        ],
        "target_point_next": [
            9.549659138168735,
            0.27982940811547097
        ]
    }
}