{
    "0": {
        "acceleration": [
            -0.0036550741642713547,
            -0.0016768486239016056,
            -0.5827435851097107
        ],
        "angular_velocity": [
            -0.02895757555961609,
            -0.028519602492451668,
            4.903091030428186e-05
        ],
        "forward_vector": [
            0.002451722975820303,
            0.9999935626983643,
            -0.002627488924190402
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451980486512184,
            9.480804874328896e-05
        ],
        "location": [
            -1567.13916015625,
            5734.72119140625,
            376.1632385253906
        ],
        "rotation": [
            -0.005432120058685541,
            -0.1505441963672638,
            89.85952758789062
        ],
        "velocity": [
            -0.0003567958192434162,
            0.0006666979170404375,
            0.20548298954963684
        ],
        "speed": 0.0007561675536649523,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0016755436081439257,
        "expert_target_speed": 1.4035660039941142,
        "target_point": [
            51.000641761309176,
            0.0006269001680703767
        ],
        "target_point_next": [
            63.23847157233826,
            0.0007716255332537447
        ]
    },
    "5": {
        "acceleration": [
            0.010890470817685127,
            -0.0016692525241523981,
            -0.3761577606201172
        ],
        "angular_velocity": [
            -0.014193345792591572,
            0.02066721022129059,
            -8.344172238139436e-05
        ],
        "forward_vector": [
            0.002451364416629076,
            0.9999932646751404,
            -0.002742525190114975
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451470121741295,
            3.515358184813522e-05
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.1955871582031
        ],
        "rotation": [
            -0.002014159457758069,
            -0.15713532269001007,
            89.85955047607422
        ],
        "velocity": [
            0.0001740115403663367,
            0.00025100220227614045,
            0.07243382185697556
        ],
        "speed": 0.00030542122016673586,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000553131103516,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.102294921875,
                5749.7216796875,
                376.1707458496094
            ],
            "velocity": [
                -0.00031441054306924343,
                -0.0009738574735820293,
                -0.3633379340171814
            ],
            "speed_kmh": 1.3080217506086118,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3626184463500977,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 376.1354064941406
                    },
                    "rotation": {
                        "roll": 0.0015290329465642571,
                        "pitch": 0.13833864033222198,
                        "yaw": -90.14044952392578
                    }
                },
                "velocity": {
                    "x": -0.0001738209102768451,
                    "y": 0.00020760518964380026,
                    "z": -2.3626184463500977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3627863824367523,
                "transform": {
                    "location": {
                        "x": -1567.2125244140625,
                        "y": 5704.7216796875,
                        "z": 376.2962341308594
                    },
                    "rotation": {
                        "roll": 0.0002646109205670655,
                        "pitch": -0.1685485690832138,
                        "yaw": 89.85957336425781
                    }
                },
                "velocity": {
                    "x": -0.00018908049969468266,
                    "y": -0.0010315709514543414,
                    "z": -0.36278486251831055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4345817267894745,
                "transform": {
                    "location": {
                        "x": -1567.17578125,
                        "y": 5719.7216796875,
                        "z": 376.2617492675781
                    },
                    "rotation": {
                        "roll": 0.0003272567701060325,
                        "pitch": -0.16388355195522308,
                        "yaw": 89.8595962524414
                    }
                },
                "velocity": {
                    "x": -5.1032420742558315e-05,
                    "y": -0.0011821655789390206,
                    "z": -0.43458011746406555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.363339364528656,
                "transform": {
                    "location": {
                        "x": -1567.102294921875,
                        "y": 5749.7216796875,
                        "z": 376.1707458496094
                    },
                    "rotation": {
                        "roll": -3.0509172574966215e-05,
                        "pitch": -0.1517326384782791,
                        "yaw": 89.85955810546875
                    }
                },
                "velocity": {
                    "x": -0.00031441054306924343,
                    "y": -0.0009738574735820293,
                    "z": -0.3633379340171814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3569200336933136,
                "transform": {
                    "location": {
                        "x": -1567.0655517578125,
                        "y": 5764.7216796875,
                        "z": 376.1335144042969
                    },
                    "rotation": {
                        "roll": -0.0001220700069097802,
                        "pitch": -0.14560596644878387,
                        "yaw": 89.85956573486328
                    }
                },
                "velocity": {
                    "x": 2.6110594262718223e-05,
                    "y": -0.0008913470664992929,
                    "z": -0.35691893100738525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0004340812738519162,
        "expert_target_speed": 1.078335965748896,
        "target_point": [
            51.00064146032833,
            0.0007489701095153567
        ],
        "target_point_next": [
            63.238471271357426,
            0.0008936954746987247
        ]
    },
    "10": {
        "acceleration": [
            -0.000490131787955761,
            -0.000494761043228209,
            -0.12095682322978973
        ],
        "angular_velocity": [
            -0.005149998236447573,
            -0.033467166125774384,
            6.474082329077646e-05
        ],
        "forward_vector": [
            0.002451483393087983,
            0.9999931454658508,
            -0.0027856791857630014
        ],
        "right_vector": [
            -0.9999970197677612,
            0.0024515092372894287,
            5.8589498621586245e-06
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.20538330078125
        ],
        "rotation": [
            -0.00033569440711289644,
            -0.15960785746574402,
            89.85954284667969
        ],
        "velocity": [
            -0.00014109707262832671,
            7.410764374071732e-05,
            0.018797650933265686
        ],
        "speed": 0.00015937479965504077,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000592231750488,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.102294921875,
                5749.7216796875,
                376.1630859375
            ],
            "velocity": [
                -0.0001301787851843983,
                0.00013042835053056479,
                0.044313330203294754
            ],
            "speed_kmh": 0.1595293680970044,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0953480452299118,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 375.99176025390625
                    },
                    "rotation": {
                        "roll": 0.0044987876899540424,
                        "pitch": 0.14576305449008942,
                        "yaw": -90.13994598388672
                    }
                },
                "velocity": {
                    "x": -4.2942883737850934e-05,
                    "y": 0.00022903918579686433,
                    "z": 0.09534776210784912
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044460996985435486,
                "transform": {
                    "location": {
                        "x": -1567.2125244140625,
                        "y": 5704.7216796875,
                        "z": 376.28857421875
                    },
                    "rotation": {
                        "roll": 0.00042923656292259693,
                        "pitch": -0.16870565712451935,
                        "yaw": 89.85957336425781
                    }
                },
                "velocity": {
                    "x": 0.0002072636561933905,
                    "y": 0.00013134817709214985,
                    "z": 0.044460318982601166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027183759957551956,
                "transform": {
                    "location": {
                        "x": -1567.17578125,
                        "y": 5719.7216796875,
                        "z": 376.2376403808594
                    },
                    "rotation": {
                        "roll": 0.0002494563232176006,
                        "pitch": -0.16488075256347656,
                        "yaw": 89.85958862304688
                    }
                },
                "velocity": {
                    "x": -0.00012207658437546343,
                    "y": 9.191512799588963e-05,
                    "z": 0.027183331549167633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044313713908195496,
                "transform": {
                    "location": {
                        "x": -1567.102294921875,
                        "y": 5749.7216796875,
                        "z": 376.1630859375
                    },
                    "rotation": {
                        "roll": -0.00039672598359175026,
                        "pitch": -0.15154822170734406,
                        "yaw": 89.85956573486328
                    }
                },
                "velocity": {
                    "x": -0.0001301787851843983,
                    "y": 0.00013042835053056479,
                    "z": 0.044313330203294754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04360334947705269,
                "transform": {
                    "location": {
                        "x": -1567.0655517578125,
                        "y": 5764.7216796875,
                        "z": 376.12603759765625
                    },
                    "rotation": {
                        "roll": -0.0001831016707001254,
                        "pitch": -0.1458723396062851,
                        "yaw": 89.85956573486328
                    }
                },
                "velocity": {
                    "x": -4.859646287513897e-05,
                    "y": 0.00010141007078345865,
                    "z": 0.04360320419073105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 2.1465675672516227e-06,
        "expert_target_speed": 1.0252793158323432,
        "target_point": [
            51.000641463461456,
            -0.0004912989385483374
        ],
        "target_point_next": [
            63.23847127439136,
            -0.000644181624851331
        ]
    },
    "15": {
        "acceleration": [
            3.296816430520266e-05,
            3.645982360467315e-05,
            -0.024223243817687035
        ],
        "angular_velocity": [
            -0.007816087454557419,
            0.00448739854618907,
            -5.212234100326896e-05
        ],
        "forward_vector": [
            0.002451602602377534,
            0.999993085861206,
            -0.002800579881295562
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451590495184064,
            -7.745111361145973e-06
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.2077941894531
        ],
        "rotation": [
            0.00044376394362188876,
            -0.16046161949634552,
            89.85953521728516
        ],
        "velocity": [
            2.9533839551731944e-05,
            4.4913627789355814e-05,
            0.005111136939376593
        ],
        "speed": 5.375389883411473e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.085539817810059,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1031494140625,
                5749.806640625,
                376.1697082519531
            ],
            "velocity": [
                -0.009026236832141876,
                1.0993374586105347,
                0.010038566775619984
            ],
            "speed_kmh": 3.9579132398365826,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.916608452796936,
                "transform": {
                    "location": {
                        "x": -1564.2333984375,
                        "y": 5797.88623046875,
                        "z": 376.0246887207031
                    },
                    "rotation": {
                        "roll": -0.00479121645912528,
                        "pitch": 0.35604408383369446,
                        "yaw": -90.11381530761719
                    }
                },
                "velocity": {
                    "x": 0.011579851619899273,
                    "y": -0.9097972512245178,
                    "z": 0.11093232780694962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1098984479904175,
                "transform": {
                    "location": {
                        "x": -1567.213134765625,
                        "y": 5704.80712890625,
                        "z": 376.2951965332031
                    },
                    "rotation": {
                        "roll": -0.004180908203125,
                        "pitch": -0.027409547939896584,
                        "yaw": 89.86419677734375
                    }
                },
                "velocity": {
                    "x": -0.00834142230451107,
                    "y": 1.1098326444625854,
                    "z": 0.008741912432014942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9478432536125183,
                "transform": {
                    "location": {
                        "x": -1567.17626953125,
                        "y": 5719.791015625,
                        "z": 376.2442932128906
                    },
                    "rotation": {
                        "roll": -0.008972168900072575,
                        "pitch": 0.05686815083026886,
                        "yaw": 89.88316345214844
                    }
                },
                "velocity": {
                    "x": -0.008364688605070114,
                    "y": 0.9475839138031006,
                    "z": 0.02053356170654297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0994203090667725,
                "transform": {
                    "location": {
                        "x": -1567.1031494140625,
                        "y": 5749.806640625,
                        "z": 376.1697082519531
                    },
                    "rotation": {
                        "roll": -0.004272460006177425,
                        "pitch": -0.011993811465799809,
                        "yaw": 89.93571472167969
                    }
                },
                "velocity": {
                    "x": -0.009026236832141876,
                    "y": 1.0993374586105347,
                    "z": 0.010038566775619984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2143231630325317,
                "transform": {
                    "location": {
                        "x": -1567.0665283203125,
                        "y": 5764.83544921875,
                        "z": 376.13238525390625
                    },
                    "rotation": {
                        "roll": -0.0078125,
                        "pitch": 0.05085758492350578,
                        "yaw": 89.89981842041016
                    }
                },
                "velocity": {
                    "x": -0.009601692669093609,
                    "y": 1.2142540216445923,
                    "z": 0.008705978281795979
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0006562107591889799,
        "expert_target_speed": 1.017743811231532,
        "target_point": [
            51.00064146032833,
            0.0007489701095153567
        ],
        "target_point_next": [
            63.238471271357426,
            0.0008936954746987247
        ]
    },
    "20": {
        "acceleration": [
            -0.0011435586493462324,
            0.03963731974363327,
            0.00745200552046299
        ],
        "angular_velocity": [
            -0.016651306301355362,
            -0.04672339931130409,
            -0.011997758410871029
        ],
        "forward_vector": [
            0.0024533907417207956,
            0.999993085861206,
            -0.002805348252877593
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002453422639518976,
            7.989350706338882e-06
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.2082214355469
        ],
        "rotation": [
            -0.0004577578802127391,
            -0.16073483228683472,
            89.85942840576172
        ],
        "velocity": [
            -0.00014158540579956025,
            0.0019717502873390913,
            0.0016897331224754453
        ],
        "speed": 0.001976827160567462,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.516194343566895,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1068115234375,
                5750.2373046875,
                376.1699523925781
            ],
            "velocity": [
                -0.01919541321694851,
                2.311185598373413,
                -0.0035721969325095415
            ],
            "speed_kmh": 8.32056505449731,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8329155445098877,
                "transform": {
                    "location": {
                        "x": -1564.22998046875,
                        "y": 5797.525390625,
                        "z": 376.04156494140625
                    },
                    "rotation": {
                        "roll": -0.016571030020713806,
                        "pitch": 0.5261021256446838,
                        "yaw": -89.9552230834961
                    }
                },
                "velocity": {
                    "x": 0.020811080932617188,
                    "y": -1.832368016242981,
                    "z": 0.03967142105102539
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.356170892715454,
                "transform": {
                    "location": {
                        "x": -1567.216796875,
                        "y": 5705.25244140625,
                        "z": 376.29534912109375
                    },
                    "rotation": {
                        "roll": -0.006500245071947575,
                        "pitch": 0.022703547030687332,
                        "yaw": 90.07200622558594
                    }
                },
                "velocity": {
                    "x": -0.019137423485517502,
                    "y": 2.356088161468506,
                    "z": -0.004944352898746729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.874308466911316,
                "transform": {
                    "location": {
                        "x": -1567.1793212890625,
                        "y": 5720.1630859375,
                        "z": 376.24615478515625
                    },
                    "rotation": {
                        "roll": -0.016143806278705597,
                        "pitch": 0.23375637829303741,
                        "yaw": 90.02994537353516
                    }
                },
                "velocity": {
                    "x": -0.018886500969529152,
                    "y": 1.8742120265960693,
                    "z": 0.0022588158026337624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3112680912017822,
                "transform": {
                    "location": {
                        "x": -1567.1068115234375,
                        "y": 5750.2373046875,
                        "z": 376.1699523925781
                    },
                    "rotation": {
                        "roll": -0.004394532181322575,
                        "pitch": 0.03062656708061695,
                        "yaw": 90.11045837402344
                    }
                },
                "velocity": {
                    "x": -0.01919541321694851,
                    "y": 2.311185598373413,
                    "z": -0.0035721969325095415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6990602016448975,
                "transform": {
                    "location": {
                        "x": -1567.07080078125,
                        "y": 5765.33544921875,
                        "z": 376.1324462890625
                    },
                    "rotation": {
                        "roll": -0.01168823055922985,
                        "pitch": 0.142901211977005,
                        "yaw": 90.10417938232422
                    }
                },
                "velocity": {
                    "x": -0.024361474439501762,
                    "y": 2.6989471912384033,
                    "z": -0.004017944447696209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00020916113862767816,
        "expert_target_speed": 1.0324646619660034,
        "target_point": [
            51.000641463461456,
            -0.0004912989385483374
        ],
        "target_point_next": [
            63.23847127439136,
            -0.000644181624851331
        ]
    },
    "25": {
        "acceleration": [
            0.0008357944898307323,
            1.7731821537017822,
            -0.0003412226215004921
        ],
        "angular_velocity": [
            0.026933062821626663,
            0.004836557433009148,
            0.015381225384771824
        ],
        "forward_vector": [
            0.0018562801415100694,
            0.9999971389770508,
            0.0015218250919133425
        ],
        "right_vector": [
            -0.9999982714653015,
            0.001856227871030569,
            3.56864147761371e-05
        ],
        "location": [
            -1567.1390380859375,
            5734.89501953125,
            376.2070617675781
        ],
        "rotation": [
            -0.0020446833223104477,
            0.08719418942928314,
            89.89364624023438
        ],
        "velocity": [
            0.0010623167036101222,
            0.9878508448600769,
            -0.00204436294734478
        ],
        "speed": 0.9878514160578739,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.09381675720215,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1138916015625,
                5750.98876953125,
                376.16827392578125
            ],
            "velocity": [
                -0.03555241599678993,
                3.7156829833984375,
                -0.009724349714815617
            ],
            "speed_kmh": 13.377116844525572,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9945414066314697,
                "transform": {
                    "location": {
                        "x": -1564.2235107421875,
                        "y": 5796.9248046875,
                        "z": 376.0475158691406
                    },
                    "rotation": {
                        "roll": -0.018615731969475746,
                        "pitch": 0.5977712869644165,
                        "yaw": -89.74349975585938
                    }
                },
                "velocity": {
                    "x": 0.037237074226140976,
                    "y": -2.994266986846924,
                    "z": 0.01605064421892166
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.661437511444092,
                "transform": {
                    "location": {
                        "x": -1567.2237548828125,
                        "y": 5705.99609375,
                        "z": 376.2933654785156
                    },
                    "rotation": {
                        "roll": -0.006195067428052425,
                        "pitch": 0.03611120954155922,
                        "yaw": 90.29570007324219
                    }
                },
                "velocity": {
                    "x": -0.035367321223020554,
                    "y": 3.6612536907196045,
                    "z": -0.009713420644402504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0014452934265137,
                "transform": {
                    "location": {
                        "x": -1567.1849365234375,
                        "y": 5720.7666015625,
                        "z": 376.2452392578125
                    },
                    "rotation": {
                        "roll": -0.016906756907701492,
                        "pitch": 0.28643763065338135,
                        "yaw": 90.21461486816406
                    }
                },
                "velocity": {
                    "x": -0.03226971626281738,
                    "y": 3.001265287399292,
                    "z": -0.0062691401690244675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7158658504486084,
                "transform": {
                    "location": {
                        "x": -1567.1138916015625,
                        "y": 5750.98876953125,
                        "z": 376.16827392578125
                    },
                    "rotation": {
                        "roll": -0.005554200615733862,
                        "pitch": 0.06320656836032867,
                        "yaw": 90.29857635498047
                    }
                },
                "velocity": {
                    "x": -0.03555241599678993,
                    "y": 3.7156829833984375,
                    "z": -0.009724349714815617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.252057075500488,
                "transform": {
                    "location": {
                        "x": -1567.079345703125,
                        "y": 5766.21630859375,
                        "z": 376.13043212890625
                    },
                    "rotation": {
                        "roll": -0.011444086208939552,
                        "pitch": 0.1722368746995926,
                        "yaw": 90.3210678100586
                    }
                },
                "velocity": {
                    "x": -0.04299656301736832,
                    "y": 4.251827716827393,
                    "z": -0.010153512470424175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0014694749843329191,
        "expert_target_speed": 2.0214801237787445,
        "target_point": [
            50.82680565750009,
            -0.02888414179690929
        ],
        "target_point_next": [
            63.064633531513216,
            -0.03577113571623944
        ]
    },
    "30": {
        "acceleration": [
            0.009330525062978268,
            0.582892894744873,
            0.003354647196829319
        ],
        "angular_velocity": [
            -0.19986648857593536,
            -0.023260679095983505,
            0.010600174777209759
        ],
        "forward_vector": [
            0.0016926074167713523,
            0.9999980926513672,
            0.0010037419851869345
        ],
        "right_vector": [
            -0.9999985694885254,
            0.001692582038231194,
            2.6098974558408372e-05
        ],
        "location": [
            -1567.138916015625,
            5735.19775390625,
            376.20635986328125
        ],
        "rotation": [
            -0.0014953617937862873,
            0.05751018971204758,
            89.90302276611328
        ],
        "velocity": [
            0.0013241460546851158,
            1.4005838632583618,
            -0.0027771852910518646
        ],
        "speed": 1.4005844891981674,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.90972328186035,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1246337890625,
                5752.107421875,
                376.16546630859375
            ],
            "velocity": [
                -0.03192439302802086,
                5.142225742340088,
                -0.006884431466460228
            ],
            "speed_kmh": 18.512386011289212,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.396296501159668,
                "transform": {
                    "location": {
                        "x": -1564.2159423828125,
                        "y": 5795.98876953125,
                        "z": 376.0505065917969
                    },
                    "rotation": {
                        "roll": 0.009833086282014847,
                        "pitch": 0.7135908007621765,
                        "yaw": -89.65371704101562
                    }
                },
                "velocity": {
                    "x": 0.027098216116428375,
                    "y": -4.396193504333496,
                    "z": 0.013068255968391895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.096105575561523,
                "transform": {
                    "location": {
                        "x": -1567.2344970703125,
                        "y": 5707.1025390625,
                        "z": 376.29022216796875
                    },
                    "rotation": {
                        "roll": 0.0034180625807493925,
                        "pitch": 0.055659208446741104,
                        "yaw": 90.44905853271484
                    }
                },
                "velocity": {
                    "x": -0.031727515161037445,
                    "y": 5.096002101898193,
                    "z": -0.0068181417882442474
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.410489082336426,
                "transform": {
                    "location": {
                        "x": -1567.1944580078125,
                        "y": 5721.70556640625,
                        "z": 376.24237060546875
                    },
                    "rotation": {
                        "roll": -0.017517095431685448,
                        "pitch": 0.4106719195842743,
                        "yaw": 90.41325378417969
                    }
                },
                "velocity": {
                    "x": -0.051161669194698334,
                    "y": 4.410177707672119,
                    "z": -0.011353463865816593
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.142329216003418,
                "transform": {
                    "location": {
                        "x": -1567.1246337890625,
                        "y": 5752.107421875,
                        "z": 376.16546630859375
                    },
                    "rotation": {
                        "roll": 0.003773902775719762,
                        "pitch": 0.07464713603258133,
                        "yaw": 90.44977569580078
                    }
                },
                "velocity": {
                    "x": -0.03192439302802086,
                    "y": 5.142225742340088,
                    "z": -0.006884431466460228
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.468803882598877,
                "transform": {
                    "location": {
                        "x": -1567.090087890625,
                        "y": 5767.4580078125,
                        "z": 376.1277160644531
                    },
                    "rotation": {
                        "roll": 0.008526821620762348,
                        "pitch": 0.1351557821035385,
                        "yaw": 90.4444351196289
                    }
                },
                "velocity": {
                    "x": -0.03166934847831726,
                    "y": 5.468697547912598,
                    "z": -0.012715177610516548
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0019092633156105876,
        "expert_target_speed": 2.4544780135007818,
        "target_point": [
            50.52406607451753,
            -0.03765825764162928
        ],
        "target_point_next": [
            62.761892647839986,
            -0.04656139980168808
        ]
    },
    "35": {
        "acceleration": [
            0.0010340753942728043,
            1.420900821685791,
            -0.007346533238887787
        ],
        "angular_velocity": [
            -0.10764962434768677,
            -0.03319808095693588,
            0.0658438503742218
        ],
        "forward_vector": [
            0.0015778098022565246,
            0.9999987483024597,
            0.00014007091522216797
        ],
        "right_vector": [
            -0.9999987483024597,
            0.0015778079396113753,
            1.3315809155756142e-05
        ],
        "location": [
            -1567.138916015625,
            5735.58740234375,
            376.20556640625
        ],
        "rotation": [
            -0.0007629396859556437,
            0.008025472052395344,
            89.90959930419922
        ],
        "velocity": [
            0.00169107795227319,
            1.7143856287002563,
            -0.003916730638593435
        ],
        "speed": 1.7143864627436294,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.89263343811035,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.133056640625,
                5753.47998046875,
                376.1618347167969
            ],
            "velocity": [
                -0.035014744848012924,
                5.619173049926758,
                -0.01394837349653244
            ],
            "speed_kmh": 20.22947803464936,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.347906589508057,
                "transform": {
                    "location": {
                        "x": -1564.2083740234375,
                        "y": 5794.7333984375,
                        "z": 376.0542907714844
                    },
                    "rotation": {
                        "roll": 0.005697594489902258,
                        "pitch": 0.670191764831543,
                        "yaw": -89.65328216552734
                    }
                },
                "velocity": {
                    "x": 0.03225945308804512,
                    "y": -5.347789764404297,
                    "z": 0.01445954293012619
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5252885818481445,
                "transform": {
                    "location": {
                        "x": -1567.2421875,
                        "y": 5708.45166015625,
                        "z": 376.2864074707031
                    },
                    "rotation": {
                        "roll": 0.002465132623910904,
                        "pitch": -0.06177222728729248,
                        "yaw": 90.36202239990234
                    }
                },
                "velocity": {
                    "x": -0.031151289120316505,
                    "y": 5.525173187255859,
                    "z": -0.017420148476958275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.385494232177734,
                "transform": {
                    "location": {
                        "x": -1567.203369140625,
                        "y": 5722.96484375,
                        "z": 376.2393798828125
                    },
                    "rotation": {
                        "roll": 0.013870371505618095,
                        "pitch": 0.36794909834861755,
                        "yaw": 90.38927459716797
                    }
                },
                "velocity": {
                    "x": -0.02907782793045044,
                    "y": 5.385397434234619,
                    "z": -0.01404581032693386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.619299411773682,
                "transform": {
                    "location": {
                        "x": -1567.133056640625,
                        "y": 5753.47998046875,
                        "z": 376.1618347167969
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": -0.037566039711236954,
                        "yaw": 90.47819519042969
                    }
                },
                "velocity": {
                    "x": -0.035014744848012924,
                    "y": 5.619173049926758,
                    "z": -0.01394837349653244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.582977294921875,
                "transform": {
                    "location": {
                        "x": -1567.097900390625,
                        "y": 5768.83544921875,
                        "z": 376.12408447265625
                    },
                    "rotation": {
                        "roll": 0.0031180621590465307,
                        "pitch": -0.049805738031864166,
                        "yaw": 90.3587875366211
                    }
                },
                "velocity": {
                    "x": -0.0308370441198349,
                    "y": 5.5828752517700195,
                    "z": -0.013737735338509083
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0030605648644268513,
        "expert_target_speed": 2.7854428786698646,
        "target_point": [
            50.13441217795231,
            -0.045550505530916344
        ],
        "target_point_next": [
            62.37223734228909,
            -0.056215953627203594
        ]
    },
    "40": {
        "acceleration": [
            0.04770155996084213,
            1.4708662033081055,
            -0.0015901587903499603
        ],
        "angular_velocity": [
            0.02842682972550392,
            -0.046134788542985916,
            -0.5392870306968689
        ],
        "forward_vector": [
            0.0028322460129857063,
            0.9999960064888,
            6.520747410831973e-05
        ],
        "right_vector": [
            -0.9999959468841553,
            0.0028322627767920494,
            -0.000261477951426059
        ],
        "location": [
            -1567.1363525390625,
            5736.0625,
            376.2043151855469
        ],
        "rotation": [
            0.014981583692133427,
            0.0037361131981015205,
            89.83772277832031
        ],
        "velocity": [
            0.01983853615820408,
            2.079874038696289,
            -0.005829868372529745
        ],
        "speed": 2.079968649850212,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.982969284057617,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.142822265625,
                5755.04541015625,
                376.1578369140625
            ],
            "velocity": [
                -0.0432090237736702,
                7.350980281829834,
                -0.018831558525562286
            ],
            "speed_kmh": 26.46407301333889,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.108883380889893,
                "transform": {
                    "location": {
                        "x": -1564.2003173828125,
                        "y": 5793.3583984375,
                        "z": 376.0581970214844
                    },
                    "rotation": {
                        "roll": 0.0035264897160232067,
                        "pitch": 0.5072234869003296,
                        "yaw": -89.6580581665039
                    }
                },
                "velocity": {
                    "x": 0.036349937319755554,
                    "y": -6.108758926391602,
                    "z": 0.01412622444331646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9764604568481445,
                "transform": {
                    "location": {
                        "x": -1567.25048828125,
                        "y": 5709.9833984375,
                        "z": 376.2819519042969
                    },
                    "rotation": {
                        "roll": 0.0013199596432968974,
                        "pitch": 0.05475762486457825,
                        "yaw": 90.32276153564453
                    }
                },
                "velocity": {
                    "x": -0.036484647542238235,
                    "y": 6.976334095001221,
                    "z": -0.020776785910129547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5021486282348633,
                "transform": {
                    "location": {
                        "x": -1567.20947265625,
                        "y": 5723.8515625,
                        "z": 376.2413330078125
                    },
                    "rotation": {
                        "roll": -0.014404327608644962,
                        "pitch": -0.8943107724189758,
                        "yaw": 90.57901763916016
                    }
                },
                "velocity": {
                    "x": -0.01145130954682827,
                    "y": 1.5020948648452759,
                    "z": -0.00551228504627943
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.351131439208984,
                "transform": {
                    "location": {
                        "x": -1567.142822265625,
                        "y": 5755.04541015625,
                        "z": 376.1578369140625
                    },
                    "rotation": {
                        "roll": 0.0006769368192180991,
                        "pitch": 0.10332709550857544,
                        "yaw": 90.41744232177734
                    }
                },
                "velocity": {
                    "x": -0.0432090237736702,
                    "y": 7.350980281829834,
                    "z": -0.018831558525562286
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.886074066162109,
                "transform": {
                    "location": {
                        "x": -1567.1063232421875,
                        "y": 5770.52734375,
                        "z": 376.119873046875
                    },
                    "rotation": {
                        "roll": 0.0022592907771468163,
                        "pitch": 0.23538196086883545,
                        "yaw": 90.26468658447266
                    }
                },
                "velocity": {
                    "x": -0.037978481501340866,
                    "y": 7.885961532592773,
                    "z": -0.018307508900761604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0034530640114098787,
        "expert_target_speed": 3.17064905134995,
        "target_point": [
            49.659326660387535,
            0.019070862065077396
        ],
        "target_point_next": [
            61.897155525788975,
            0.02388394889823961
        ]
    },
    "45": {
        "acceleration": [
            0.054172761738300323,
            1.6968059539794922,
            -0.008267220109701157
        ],
        "angular_velocity": [
            0.04757039248943329,
            0.008704823441803455,
            -0.6732180118560791
        ],
        "forward_vector": [
            0.005504059139639139,
            0.9999848008155823,
            0.0003137588209938258
        ],
        "right_vector": [
            -0.9999848008155823,
            0.005504144821316004,
            -0.00027302460512146354
        ],
        "location": [
            -1567.1304931640625,
            5736.63671875,
            376.2026062011719
        ],
        "rotation": [
            0.015643158927559853,
            0.01797705702483654,
            89.68463897705078
        ],
        "velocity": [
            0.03151091933250427,
            2.4979376792907715,
            -0.006316976621747017
        ],
        "speed": 2.498136422947663,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.35993766784668,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.153076171875,
                5756.99658203125,
                376.1526794433594
            ],
            "velocity": [
                -0.04018484801054001,
                7.933163166046143,
                -0.021473083645105362
            ],
            "speed_kmh": 28.55985840998463,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.686080455780029,
                "transform": {
                    "location": {
                        "x": -1564.18994140625,
                        "y": 5791.62158203125,
                        "z": 376.0614318847656
                    },
                    "rotation": {
                        "roll": 0.0030991360545158386,
                        "pitch": 0.7394499182701111,
                        "yaw": -89.66519165039062
                    }
                },
                "velocity": {
                    "x": 0.045878227800130844,
                    "y": -7.685922145843506,
                    "z": 0.018103227019309998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.566603660583496,
                "transform": {
                    "location": {
                        "x": -1567.258544921875,
                        "y": 5711.56591796875,
                        "z": 376.27667236328125
                    },
                    "rotation": {
                        "roll": -0.0015869197668507695,
                        "pitch": -0.37927356362342834,
                        "yaw": 90.48065948486328
                    }
                },
                "velocity": {
                    "x": -0.020625198259949684,
                    "y": 4.566511631011963,
                    "z": -0.02040547877550125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1356195211410522,
                "transform": {
                    "location": {
                        "x": -1567.2100830078125,
                        "y": 5723.99609375,
                        "z": 376.2402648925781
                    },
                    "rotation": {
                        "roll": -0.007263156119734049,
                        "pitch": -0.7594896554946899,
                        "yaw": 90.61167907714844
                    }
                },
                "velocity": {
                    "x": -0.006293257232755423,
                    "y": 1.1356003284454346,
                    "z": -0.0020018958020955324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.93329381942749,
                "transform": {
                    "location": {
                        "x": -1567.153076171875,
                        "y": 5756.99658203125,
                        "z": 376.1526794433594
                    },
                    "rotation": {
                        "roll": 0.0020378774497658014,
                        "pitch": -0.007841057144105434,
                        "yaw": 90.32630920410156
                    }
                },
                "velocity": {
                    "x": -0.04018484801054001,
                    "y": 7.933163166046143,
                    "z": -0.021473083645105362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.360866069793701,
                "transform": {
                    "location": {
                        "x": -1567.114501953125,
                        "y": 5772.4775390625,
                        "z": 376.114990234375
                    },
                    "rotation": {
                        "roll": 0.00861883070319891,
                        "pitch": -0.1221989095211029,
                        "yaw": 90.22341918945312
                    }
                },
                "velocity": {
                    "x": -0.020706141367554665,
                    "y": 7.36081600189209,
                    "z": -0.01746898703277111
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01106320507824421,
        "expert_target_speed": 3.6003485147627163,
        "target_point": [
            49.08485693971227,
            0.15417921099101023
        ],
        "target_point_next": [
            61.32262946521358,
            0.1916240870490196
        ]
    },
    "50": {
        "acceleration": [
            0.020853504538536072,
            0.6790876388549805,
            -0.005721282213926315
        ],
        "angular_velocity": [
            -0.23785518109798431,
            0.054001957178115845,
            -0.6687595248222351
        ],
        "forward_vector": [
            0.008502813056111336,
            0.9999638199806213,
            -0.00024986264179460704
        ],
        "right_vector": [
            -0.9999638199806213,
            0.008502750657498837,
            -0.0002504194271750748
        ],
        "location": [
            -1567.121826171875,
            5737.29736328125,
            376.2008972167969
        ],
        "rotation": [
            0.014347978867590427,
            -0.0143160754814744,
            89.5128173828125
        ],
        "velocity": [
            0.0409657284617424,
            2.7459845542907715,
            -0.006453971844166517
        ],
        "speed": 2.7462901090947924,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.557714462280273,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.158203125,
                5758.85498046875,
                376.1474914550781
            ],
            "velocity": [
                -0.011868804693222046,
                6.912630081176758,
                -0.01756516471505165
            ],
            "speed_kmh": 24.885585313464706,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.41667366027832,
                "transform": {
                    "location": {
                        "x": -1564.183349609375,
                        "y": 5789.55908203125,
                        "z": 376.0667419433594
                    },
                    "rotation": {
                        "roll": 0.025349577888846397,
                        "pitch": 0.6218681931495667,
                        "yaw": -89.82794189453125
                    }
                },
                "velocity": {
                    "x": 0.017062650993466377,
                    "y": -8.416631698608398,
                    "z": 0.0202494990080595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4877201020717621,
                "transform": {
                    "location": {
                        "x": -1567.2601318359375,
                        "y": 5711.93212890625,
                        "z": 376.2748718261719
                    },
                    "rotation": {
                        "roll": -0.00970462430268526,
                        "pitch": -0.7450233101844788,
                        "yaw": 90.57437133789062
                    }
                },
                "velocity": {
                    "x": -0.004001214634627104,
                    "y": 0.4877031743526459,
                    "z": 0.0007121467497199774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.08019757270813,
                "transform": {
                    "location": {
                        "x": -1567.2127685546875,
                        "y": 5724.40185546875,
                        "z": 376.2367248535156
                    },
                    "rotation": {
                        "roll": 0.0004665475571528077,
                        "pitch": -0.06778279691934586,
                        "yaw": 90.53932189941406
                    }
                },
                "velocity": {
                    "x": -0.01099910493940115,
                    "y": 2.0801641941070557,
                    "z": -0.0041923425160348415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.912662506103516,
                "transform": {
                    "location": {
                        "x": -1567.158203125,
                        "y": 5758.85498046875,
                        "z": 376.1474914550781
                    },
                    "rotation": {
                        "roll": 0.007556614000350237,
                        "pitch": -0.2366592139005661,
                        "yaw": 90.11981964111328
                    }
                },
                "velocity": {
                    "x": -0.011868804693222046,
                    "y": 6.912630081176758,
                    "z": -0.01756516471505165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.060355186462402,
                "transform": {
                    "location": {
                        "x": -1567.1177978515625,
                        "y": 5774.17529296875,
                        "z": 376.11077880859375
                    },
                    "rotation": {
                        "roll": 0.006046724505722523,
                        "pitch": -0.3505799174308777,
                        "yaw": 90.14373779296875
                    }
                },
                "velocity": {
                    "x": -0.007783245295286179,
                    "y": 6.060328006744385,
                    "z": -0.01635848917067051
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.022157208994030952,
        "expert_target_speed": 3.850072879908356,
        "target_point": [
            48.423483417343725,
            0.30379502023658167
        ],
        "target_point_next": [
            60.661089578844916,
            0.37778110437414125
        ]
    },
    "55": {
        "acceleration": [
            0.03786221146583557,
            0.7472467422485352,
            0.0002883840352296829
        ],
        "angular_velocity": [
            -0.09922835975885391,
            -0.027039416134357452,
            -0.6865122318267822
        ],
        "forward_vector": [
            0.011484082788228989,
            0.9999336004257202,
            -0.0009661910589784384
        ],
        "right_vector": [
            -0.9999340176582336,
            0.01148383878171444,
            -0.0002571582735981792
        ],
        "location": [
            -1567.1109619140625,
            5738.00732421875,
            376.1991271972656
        ],
        "rotation": [
            0.014734091237187386,
            -0.055358681827783585,
            89.34199523925781
        ],
        "velocity": [
            0.05146581679582596,
            2.9239187240600586,
            -0.006235637702047825
        ],
        "speed": 2.9243716308307093,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.298954010009766,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1602783203125,
                5760.30615234375,
                376.1431884765625
            ],
            "velocity": [
                -0.004994028247892857,
                3.8436436653137207,
                -0.014231032691895962
            ],
            "speed_kmh": 13.837223716741962,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.830513000488281,
                "transform": {
                    "location": {
                        "x": -1564.1796875,
                        "y": 5787.5361328125,
                        "z": 376.07330322265625
                    },
                    "rotation": {
                        "roll": 0.016209682449698448,
                        "pitch": 0.16040697693824768,
                        "yaw": -89.90985107421875
                    }
                },
                "velocity": {
                    "x": 0.010293969884514809,
                    "y": -7.83048152923584,
                    "z": 0.019655141979455948
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7565858364105225,
                "transform": {
                    "location": {
                        "x": -1567.2608642578125,
                        "y": 5712.2509765625,
                        "z": 376.27484130859375
                    },
                    "rotation": {
                        "roll": 0.00014399478095583618,
                        "pitch": -0.153412863612175,
                        "yaw": 90.41009521484375
                    }
                },
                "velocity": {
                    "x": -0.004451350774616003,
                    "y": 1.7565757036209106,
                    "z": -0.003975172061473131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3599305152893066,
                "transform": {
                    "location": {
                        "x": -1567.216552734375,
                        "y": 5725.080078125,
                        "z": 376.2337341308594
                    },
                    "rotation": {
                        "roll": 0.0031646466813981533,
                        "pitch": 0.24180234968662262,
                        "yaw": 90.45433807373047
                    }
                },
                "velocity": {
                    "x": -0.01737712323665619,
                    "y": 3.3598744869232178,
                    "z": -0.008603734895586967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8436732292175293,
                "transform": {
                    "location": {
                        "x": -1567.1602783203125,
                        "y": 5760.30615234375,
                        "z": 376.1431884765625
                    },
                    "rotation": {
                        "roll": 0.0023554714862257242,
                        "pitch": -0.519920825958252,
                        "yaw": 90.0625
                    }
                },
                "velocity": {
                    "x": -0.004994028247892857,
                    "y": 3.8436436653137207,
                    "z": -0.014231032691895962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.338459491729736,
                "transform": {
                    "location": {
                        "x": -1567.11962890625,
                        "y": 5775.5625,
                        "z": 376.1073303222656
                    },
                    "rotation": {
                        "roll": 0.0021196450106799603,
                        "pitch": -0.3138744831085205,
                        "yaw": 90.0914535522461
                    }
                },
                "velocity": {
                    "x": -0.005625516176223755,
                    "y": 5.338438034057617,
                    "z": -0.014116725884377956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03578900545835495,
        "expert_target_speed": 4.016129968810484,
        "target_point": [
            47.71232293987357,
            0.4509453491343983
        ],
        "target_point_next": [
            59.949653970413635,
            0.5614340528063086
        ]
    },
    "60": {
        "acceleration": [
            0.04175007343292236,
            0.5655097961425781,
            -0.012496374547481537
        ],
        "angular_velocity": [
            -0.04972732812166214,
            -0.0010412202682346106,
            -0.7050750255584717
        ],
        "forward_vector": [
            0.01450470183044672,
            0.9998939037322998,
            -0.0013246532762423158
        ],
        "right_vector": [
            -0.9998947381973267,
            0.01450434047728777,
            -0.0002823093964252621
        ],
        "location": [
            -1567.09716796875,
            5738.7587890625,
            376.197265625
        ],
        "rotation": [
            0.016175152733922005,
            -0.07589706033468246,
            89.16891479492188
        ],
        "velocity": [
            0.06298688799142838,
            3.081915855407715,
            -0.007902784273028374
        ],
        "speed": 3.08255943784906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.525062561035156,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.16064453125,
                5761.28369140625,
                376.1409606933594
            ],
            "velocity": [
                -0.001331894425675273,
                4.346854209899902,
                -0.010084743611514568
            ],
            "speed_kmh": 15.648718004221553,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042250633239746,
                "transform": {
                    "location": {
                        "x": -1564.1781005859375,
                        "y": 5785.5712890625,
                        "z": 376.07806396484375
                    },
                    "rotation": {
                        "roll": 0.01691688969731331,
                        "pitch": 0.1677699238061905,
                        "yaw": -89.95718383789062
                    }
                },
                "velocity": {
                    "x": -0.001149049960076809,
                    "y": -8.042229652404785,
                    "z": 0.0181878749281168
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5449954271316528,
                "transform": {
                    "location": {
                        "x": -1567.26171875,
                        "y": 5712.763671875,
                        "z": 376.27337646484375
                    },
                    "rotation": {
                        "roll": 0.0001782192848622799,
                        "pitch": -0.16199158132076263,
                        "yaw": 90.15673065185547
                    }
                },
                "velocity": {
                    "x": -0.005141452886164188,
                    "y": 1.5449787378311157,
                    "z": -0.005022697150707245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.736824035644531,
                "transform": {
                    "location": {
                        "x": -1567.22216796875,
                        "y": 5726.10595703125,
                        "z": 376.2303466796875
                    },
                    "rotation": {
                        "roll": 0.004554176703095436,
                        "pitch": 0.39522886276245117,
                        "yaw": 90.37017822265625
                    }
                },
                "velocity": {
                    "x": -0.022657053545117378,
                    "y": 4.73675012588501,
                    "z": -0.013649825938045979
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.346866130828857,
                "transform": {
                    "location": {
                        "x": -1567.16064453125,
                        "y": 5761.28369140625,
                        "z": 376.1409606933594
                    },
                    "rotation": {
                        "roll": 0.0006666425033472478,
                        "pitch": -0.2317483127117157,
                        "yaw": 90.04058074951172
                    }
                },
                "velocity": {
                    "x": -0.001331894425675273,
                    "y": 4.346854209899902,
                    "z": -0.010084743611514568
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.549317836761475,
                "transform": {
                    "location": {
                        "x": -1567.12060546875,
                        "y": 5776.93115234375,
                        "z": 376.10400390625
                    },
                    "rotation": {
                        "roll": 0.000359399855369702,
                        "pitch": -0.1476755142211914,
                        "yaw": 90.06376647949219
                    }
                },
                "velocity": {
                    "x": -0.004830034449696541,
                    "y": 5.549300193786621,
                    "z": -0.013190926983952522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05406935140490532,
        "expert_target_speed": 4.1734077555482365,
        "target_point": [
            46.959153343183694,
            0.59826726844196
        ],
        "target_point_next": [
            59.19609383168788,
            0.7458002663263733
        ]
    },
    "65": {
        "acceleration": [
            0.029795169830322266,
            0.5261325836181641,
            0.0003414042294025421
        ],
        "angular_velocity": [
            -0.04812149703502655,
            0.049576662480831146,
            -0.6880834698677063
        ],
        "forward_vector": [
            0.01764044724404812,
            0.9998432993888855,
            -0.0014780752826482058
        ],
        "right_vector": [
            -0.9998443126678467,
            0.01764003001153469,
            -0.00029351728153415024
        ],
        "location": [
            -1567.0804443359375,
            5739.5498046875,
            376.1951599121094
        ],
        "rotation": [
            0.01681732013821602,
            -0.08468750864267349,
            88.98922729492188
        ],
        "velocity": [
            0.07507533580064774,
            3.2349510192871094,
            -0.00983536709100008
        ],
        "speed": 3.235822059884055,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.981651306152344,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.159912109375,
                5762.53125,
                376.1385803222656
            ],
            "velocity": [
                0.003359855618327856,
                5.350103855133057,
                -0.013454264961183071
            ],
            "speed_kmh": 19.26043857815657,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.107680320739746,
                "transform": {
                    "location": {
                        "x": -1564.1788330078125,
                        "y": 5783.53369140625,
                        "z": 376.0828552246094
                    },
                    "rotation": {
                        "roll": 0.0135961240157485,
                        "pitch": 0.19558928906917572,
                        "yaw": -90.02874755859375
                    }
                },
                "velocity": {
                    "x": -0.006591616664081812,
                    "y": -8.107658386230469,
                    "z": 0.017722176387906075
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8774799108505249,
                "transform": {
                    "location": {
                        "x": -1567.261962890625,
                        "y": 5712.87841796875,
                        "z": 376.27294921875
                    },
                    "rotation": {
                        "roll": 0.000511540740262717,
                        "pitch": -0.21569736301898956,
                        "yaw": 90.16320037841797
                    }
                },
                "velocity": {
                    "x": -9.133893036050722e-05,
                    "y": 0.8774750828742981,
                    "z": -0.0028990076389163733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7175815105438232,
                "transform": {
                    "location": {
                        "x": -1567.2283935546875,
                        "y": 5727.22998046875,
                        "z": 376.22979736328125
                    },
                    "rotation": {
                        "roll": 0.021421436220407486,
                        "pitch": -0.3084103465080261,
                        "yaw": 89.8644790649414
                    }
                },
                "velocity": {
                    "x": -0.008455622009932995,
                    "y": 2.717555284500122,
                    "z": -0.008409500122070312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.350121974945068,
                "transform": {
                    "location": {
                        "x": -1567.159912109375,
                        "y": 5762.53125,
                        "z": 376.1385803222656
                    },
                    "rotation": {
                        "roll": 0.002093736780807376,
                        "pitch": -0.03823539614677429,
                        "yaw": 90.00861358642578
                    }
                },
                "velocity": {
                    "x": 0.003359855618327856,
                    "y": 5.350103855133057,
                    "z": -0.013454264961183071
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.750184059143066,
                "transform": {
                    "location": {
                        "x": -1567.1202392578125,
                        "y": 5778.55859375,
                        "z": 376.10009765625
                    },
                    "rotation": {
                        "roll": 0.003819876816123724,
                        "pitch": 0.026583094149827957,
                        "yaw": 89.9989242553711
                    }
                },
                "velocity": {
                    "x": 0.003923305310308933,
                    "y": 6.750162601470947,
                    "z": -0.01663975603878498
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0809163823723793,
        "expert_target_speed": 4.329886856378454,
        "target_point": [
            46.165860908125715,
            0.7481560113071897
        ],
        "target_point_next": [
            58.40227910866938,
            0.9340272733716599
        ]
    },
    "70": {
        "acceleration": [
            0.01174837350845337,
            -0.5621194839477539,
            0.01182403415441513
        ],
        "angular_velocity": [
            -0.30573996901512146,
            0.011057882569730282,
            -0.4820728003978729
        ],
        "forward_vector": [
            0.019930491223931313,
            0.9997984766960144,
            -0.0023995612282305956
        ],
        "right_vector": [
            -0.9998013377189636,
            0.019930096343159676,
            -0.00018849747721105814
        ],
        "location": [
            -1567.062255859375,
            5740.35595703125,
            376.193115234375
        ],
        "rotation": [
            0.010800140909850597,
            -0.1374848634004593,
            88.85798645019531
        ],
        "velocity": [
            0.07617688179016113,
            3.1843526363372803,
            -0.009513692930340767
        ],
        "speed": 3.185263667244434,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.537870407104492,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1590576171875,
                5763.8935546875,
                376.1348876953125
            ],
            "velocity": [
                0.005263695493340492,
                5.676872253417969,
                -0.014644861221313477
            ],
            "speed_kmh": 20.436816901137053,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.93768835067749,
                "transform": {
                    "location": {
                        "x": -1564.1807861328125,
                        "y": 5781.53662109375,
                        "z": 376.08795166015625
                    },
                    "rotation": {
                        "roll": 0.006088813301175833,
                        "pitch": 0.10472728312015533,
                        "yaw": -90.04718017578125
                    }
                },
                "velocity": {
                    "x": -0.006580321583896875,
                    "y": -7.93766450881958,
                    "z": 0.018183879554271698
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7357527017593384,
                "transform": {
                    "location": {
                        "x": -1567.2628173828125,
                        "y": 5713.21240234375,
                        "z": 376.272216796875
                    },
                    "rotation": {
                        "roll": -0.00045776303159072995,
                        "pitch": -0.06610256433486938,
                        "yaw": 90.18419647216797
                    }
                },
                "velocity": {
                    "x": -0.0030196181032806635,
                    "y": 1.7357449531555176,
                    "z": -0.004230003338307142
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8754667639732361,
                "transform": {
                    "location": {
                        "x": -1567.2330322265625,
                        "y": 5727.42724609375,
                        "z": 376.2317199707031
                    },
                    "rotation": {
                        "roll": 0.028094343841075897,
                        "pitch": -0.988335132598877,
                        "yaw": 89.44563293457031
                    }
                },
                "velocity": {
                    "x": -0.0012994824210181832,
                    "y": 0.8754637241363525,
                    "z": -0.0019143676618114114
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.67689323425293,
                "transform": {
                    "location": {
                        "x": -1567.1590576171875,
                        "y": 5763.8935546875,
                        "z": 376.1348876953125
                    },
                    "rotation": {
                        "roll": 0.0011858565267175436,
                        "pitch": -0.09383996576070786,
                        "yaw": 89.97750854492188
                    }
                },
                "velocity": {
                    "x": 0.005263695493340492,
                    "y": 5.676872253417969,
                    "z": -0.014644861221313477
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7217578887939453,
                "transform": {
                    "location": {
                        "x": -1567.119384765625,
                        "y": 5780.01171875,
                        "z": 376.09625244140625
                    },
                    "rotation": {
                        "roll": 0.003065220545977354,
                        "pitch": -0.5605194568634033,
                        "yaw": 89.961669921875
                    }
                },
                "velocity": {
                    "x": 0.004713558591902256,
                    "y": 3.7217299938201904,
                    "z": -0.013609742745757103
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10642509907484055,
        "expert_target_speed": 4.287086422226802,
        "target_point": [
            45.35767123883217,
            0.8560238708634385
        ],
        "target_point_next": [
            57.59363155484494,
            1.0699248984869025
        ]
    },
    "75": {
        "acceleration": [
            -0.10214604437351227,
            -0.3681755065917969,
            0.014801789075136185
        ],
        "angular_velocity": [
            -0.07687821984291077,
            0.033982645720243454,
            0.381925106048584
        ],
        "forward_vector": [
            0.020218631252646446,
            0.9997902512550354,
            -0.0032548843882977962
        ],
        "right_vector": [
            -0.9997955560684204,
            0.020219359546899796,
            0.00019068129768129438
        ],
        "location": [
            -1567.0458984375,
            5741.13671875,
            376.1911926269531
        ],
        "rotation": [
            -0.010925292037427425,
            -0.1864914745092392,
            88.84147644042969
        ],
        "velocity": [
            0.05331195890903473,
            3.069596529006958,
            -0.009332322515547276
        ],
        "speed": 3.0700594482606167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.520347595214844,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1571044921875,
                5765.65673828125,
                376.1305847167969
            ],
            "velocity": [
                0.008565112017095089,
                7.76127290725708,
                -0.01807023398578167
            ],
            "speed_kmh": 27.940675209791927,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.071982383728027,
                "transform": {
                    "location": {
                        "x": -1564.183349609375,
                        "y": 5779.53466796875,
                        "z": 376.0925598144531
                    },
                    "rotation": {
                        "roll": 0.008202110417187214,
                        "pitch": 0.16525641083717346,
                        "yaw": -90.083251953125
                    }
                },
                "velocity": {
                    "x": -0.014210604131221771,
                    "y": -8.071949005126953,
                    "z": 0.01834770105779171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2987112998962402,
                "transform": {
                    "location": {
                        "x": -1567.263671875,
                        "y": 5713.75634765625,
                        "z": 376.2706604003906
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.06878682971000671,
                        "yaw": 90.16051483154297
                    }
                },
                "velocity": {
                    "x": -0.0037737705279141665,
                    "y": 2.298699378967285,
                    "z": -0.00634531956166029
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.028660297393799,
                "transform": {
                    "location": {
                        "x": -1567.2322998046875,
                        "y": 5727.8173828125,
                        "z": 376.2274169921875
                    },
                    "rotation": {
                        "roll": 0.007622166536748409,
                        "pitch": -0.11523894220590591,
                        "yaw": 89.56925964355469
                    }
                },
                "velocity": {
                    "x": 0.0023855483159422874,
                    "y": 2.028653860092163,
                    "z": -0.004540500696748495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.761298656463623,
                "transform": {
                    "location": {
                        "x": -1567.1571044921875,
                        "y": 5765.65673828125,
                        "z": 376.1305847167969
                    },
                    "rotation": {
                        "roll": 0.0012092754477635026,
                        "pitch": 0.1016673594713211,
                        "yaw": 89.93147277832031
                    }
                },
                "velocity": {
                    "x": 0.008565112017095089,
                    "y": 7.76127290725708,
                    "z": -0.01807023398578167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.210763931274414,
                "transform": {
                    "location": {
                        "x": -1567.118408203125,
                        "y": 5780.9384765625,
                        "z": 376.0939636230469
                    },
                    "rotation": {
                        "roll": 0.00013459062029141933,
                        "pitch": -0.243038609623909,
                        "yaw": 89.95671844482422
                    }
                },
                "velocity": {
                    "x": 0.00326742441393435,
                    "y": 4.210750102996826,
                    "z": -0.010287589393556118
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11727093905210495,
        "expert_target_speed": 4.190018552392268,
        "target_point": [
            44.57649266681797,
            0.8695161904912732
        ],
        "target_point_next": [
            56.81239154362674,
            1.086903359311613
        ]
    },
    "80": {
        "acceleration": [
            0.03261499106884003,
            -0.35851001739501953,
            0.0013551674783229828
        ],
        "angular_velocity": [
            -0.003965708427131176,
            -0.022656407207250595,
            0.3062337636947632
        ],
        "forward_vector": [
            0.0184476338326931,
            0.999824047088623,
            -0.0034023455809801817
        ],
        "right_vector": [
            -0.9998298287391663,
            0.01844826154410839,
            0.0001533970789751038
        ],
        "location": [
            -1567.033447265625,
            5741.8916015625,
            376.1891784667969
        ],
        "rotation": [
            -0.008789055980741978,
            -0.19494041800498962,
            88.94296264648438
        ],
        "velocity": [
            0.0463922880589962,
            2.9808342456817627,
            -0.0094748018309474
        ],
        "speed": 2.9811952375885267,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.6429443359375,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1549072265625,
                5767.5341796875,
                376.1255798339844
            ],
            "velocity": [
                0.00947521161288023,
                7.027018070220947,
                -0.017506608739495277
            ],
            "speed_kmh": 25.297366556496456,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031402587890625,
                "transform": {
                    "location": {
                        "x": -1564.1868896484375,
                        "y": 5777.5185546875,
                        "z": 376.0975341796875
                    },
                    "rotation": {
                        "roll": 0.004988482221961021,
                        "pitch": 0.1447112113237381,
                        "yaw": -90.09927368164062
                    }
                },
                "velocity": {
                    "x": -0.015153788961470127,
                    "y": -8.031367301940918,
                    "z": 0.018601102754473686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3758574426174164,
                "transform": {
                    "location": {
                        "x": -1567.26416015625,
                        "y": 5713.986328125,
                        "z": 376.2695617675781
                    },
                    "rotation": {
                        "roll": -0.0025939971674233675,
                        "pitch": -0.38876068592071533,
                        "yaw": 90.26167297363281
                    }
                },
                "velocity": {
                    "x": -6.734026101185009e-05,
                    "y": 0.3758503496646881,
                    "z": -0.0023088741581887007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.42156821489334106,
                "transform": {
                    "location": {
                        "x": -1567.2310791015625,
                        "y": 5728.283203125,
                        "z": 376.22711181640625
                    },
                    "rotation": {
                        "roll": 0.009985201992094517,
                        "pitch": -0.3622117340564728,
                        "yaw": 89.64981842041016
                    }
                },
                "velocity": {
                    "x": 0.002079899189993739,
                    "y": 0.421559602022171,
                    "z": -0.0017113590147346258
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.027046203613281,
                "transform": {
                    "location": {
                        "x": -1567.1549072265625,
                        "y": 5767.5341796875,
                        "z": 376.1255798339844
                    },
                    "rotation": {
                        "roll": 0.00010350048978580162,
                        "pitch": -0.1687602996826172,
                        "yaw": 89.9410629272461
                    }
                },
                "velocity": {
                    "x": 0.00947521161288023,
                    "y": 7.027018070220947,
                    "z": -0.017506608739495277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.234611511230469,
                "transform": {
                    "location": {
                        "x": -1567.1171875,
                        "y": 5782.12548828125,
                        "z": 376.0914611816406
                    },
                    "rotation": {
                        "roll": 0.0010408147936686873,
                        "pitch": -0.09701599925756454,
                        "yaw": 89.94263458251953
                    }
                },
                "velocity": {
                    "x": 0.005636675748974085,
                    "y": 4.234579563140869,
                    "z": -0.015458964742720127
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12060314416885376,
        "expert_target_speed": 4.107358341058989,
        "target_point": [
            43.82297747419292,
            0.789158067968852
        ],
        "target_point_next": [
            56.05924186966135,
            0.984892962275705
        ]
    },
    "85": {
        "acceleration": [
            -0.010900944471359253,
            -0.05002021789550781,
            0.02017555758357048
        ],
        "angular_velocity": [
            0.06569898128509521,
            -0.0010467281099408865,
            0.2179533988237381
        ],
        "forward_vector": [
            0.017464807257056236,
            0.9998422861099243,
            -0.003215545555576682
        ],
        "right_vector": [
            -0.9998474717140198,
            0.01746492087841034,
            6.924382887518732e-06
        ],
        "location": [
            -1567.021484375,
            5742.63134765625,
            376.1871032714844
        ],
        "rotation": [
            -0.00039673998253419995,
            -0.1842375099658966,
            88.99928283691406
        ],
        "velocity": [
            0.04562399908900261,
            2.940560817718506,
            -0.009275836870074272
        ],
        "speed": 2.9409147338870945,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.289968490600586,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.154052734375,
                5768.9208984375,
                376.1212463378906
            ],
            "velocity": [
                -0.03923220932483673,
                3.1987054347991943,
                -0.009736232459545135
            ],
            "speed_kmh": 11.516259003310951,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.997900009155273,
                "transform": {
                    "location": {
                        "x": -1564.1905517578125,
                        "y": 5775.51904296875,
                        "z": 376.1024475097656
                    },
                    "rotation": {
                        "roll": 0.0012914029648527503,
                        "pitch": 0.13490305840969086,
                        "yaw": -90.10604095458984
                    }
                },
                "velocity": {
                    "x": -0.01489235833287239,
                    "y": -7.997864246368408,
                    "z": 0.018775958567857742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4299129247665405,
                "transform": {
                    "location": {
                        "x": -1567.2645263671875,
                        "y": 5714.21875,
                        "z": 376.2692565917969
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.09207094460725784,
                        "yaw": 90.25529479980469
                    }
                },
                "velocity": {
                    "x": -0.0033098228741437197,
                    "y": 1.4299050569534302,
                    "z": -0.003404435934498906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.020455002784729,
                "transform": {
                    "location": {
                        "x": -1567.231201171875,
                        "y": 5728.42041015625,
                        "z": 376.226318359375
                    },
                    "rotation": {
                        "roll": 0.0019398517906665802,
                        "pitch": -0.289429247379303,
                        "yaw": 89.61648559570312
                    }
                },
                "velocity": {
                    "x": 0.002240303670987487,
                    "y": 1.0204490423202515,
                    "z": -0.002662563230842352
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.198960781097412,
                "transform": {
                    "location": {
                        "x": -1567.154052734375,
                        "y": 5768.9208984375,
                        "z": 376.1212463378906
                    },
                    "rotation": {
                        "roll": -0.020019566640257835,
                        "pitch": -0.6180433034896851,
                        "yaw": 89.2772216796875
                    }
                },
                "velocity": {
                    "x": -0.03923220932483673,
                    "y": 3.1987054347991943,
                    "z": -0.009736232459545135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8370261192321777,
                "transform": {
                    "location": {
                        "x": -1567.1158447265625,
                        "y": 5782.9462890625,
                        "z": 376.0892639160156
                    },
                    "rotation": {
                        "roll": 0.0003790905757341534,
                        "pitch": -0.17477087676525116,
                        "yaw": 89.92700958251953
                    }
                },
                "velocity": {
                    "x": 0.006519016344100237,
                    "y": 3.837008476257324,
                    "z": -0.009597472846508026
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13023854792118073,
        "expert_target_speed": 4.059802078359745,
        "target_point": [
            43.08388966962956,
            0.7451314956288823
        ],
        "target_point_next": [
            55.3203405167489,
            0.9288409692283908
        ]
    },
    "90": {
        "acceleration": [
            0.07480934262275696,
            0.03204822540283203,
            -0.005251504480838776
        ],
        "angular_velocity": [
            0.07969687134027481,
            -0.054237544536590576,
            -0.293108731508255
        ],
        "forward_vector": [
            0.017401888966560364,
            0.9998441338539124,
            -0.002964491955935955
        ],
        "right_vector": [
            -0.9998485445976257,
            0.017401348799467087,
            -0.00020808981207665056
        ],
        "location": [
            -1567.0089111328125,
            5743.36376953125,
            376.18505859375
        ],
        "rotation": [
            0.011922720819711685,
            -0.16985313594341278,
            89.00289154052734
        ],
        "velocity": [
            0.057803284376859665,
            2.930281639099121,
            -0.009052886627614498
        ],
        "speed": 2.930851702854681,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.770532608032227,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.158203125,
                5769.1337890625,
                376.1206970214844
            ],
            "velocity": [
                0.005122754257172346,
                0.39054396748542786,
                0.00033762931707315147
            ],
            "speed_kmh": 1.406079754134225,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.05688762664795,
                "transform": {
                    "location": {
                        "x": -1564.1944580078125,
                        "y": 5773.509765625,
                        "z": 376.1072692871094
                    },
                    "rotation": {
                        "roll": 0.002125383820384741,
                        "pitch": 0.15642498433589935,
                        "yaw": -90.11742401123047
                    }
                },
                "velocity": {
                    "x": -0.016514213755726814,
                    "y": -8.056844711303711,
                    "z": 0.02025989443063736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.152745008468628,
                "transform": {
                    "location": {
                        "x": -1567.2652587890625,
                        "y": 5714.69482421875,
                        "z": 376.26800537109375
                    },
                    "rotation": {
                        "roll": 0.000940325204282999,
                        "pitch": -0.04931396245956421,
                        "yaw": 90.13465118408203
                    }
                },
                "velocity": {
                    "x": -0.0022209989838302135,
                    "y": 2.152736186981201,
                    "z": -0.005780963692814112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8917044401168823,
                "transform": {
                    "location": {
                        "x": -1567.23095703125,
                        "y": 5728.79736328125,
                        "z": 376.2240905761719
                    },
                    "rotation": {
                        "roll": -0.0040283203125,
                        "pitch": 0.04947788640856743,
                        "yaw": 89.68006134033203
                    }
                },
                "velocity": {
                    "x": 0.000836010614875704,
                    "y": 1.8916999101638794,
                    "z": -0.004017066676169634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3905777037143707,
                "transform": {
                    "location": {
                        "x": -1567.158203125,
                        "y": 5769.1337890625,
                        "z": 376.1206970214844
                    },
                    "rotation": {
                        "roll": 0.020022815093398094,
                        "pitch": -0.6159942150115967,
                        "yaw": 88.66911315917969
                    }
                },
                "velocity": {
                    "x": 0.005122754257172346,
                    "y": 0.39054396748542786,
                    "z": 0.00033762931707315147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.709660530090332,
                "transform": {
                    "location": {
                        "x": -1567.114013671875,
                        "y": 5784.06591796875,
                        "z": 376.0865478515625
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.010702906176447868,
                        "yaw": 89.9163818359375
                    }
                },
                "velocity": {
                    "x": 0.007021701894700527,
                    "y": 4.709643840789795,
                    "z": -0.01043638214468956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14520728588104248,
        "expert_target_speed": 4.037337152136294,
        "target_point": [
            42.351408133749565,
            0.7421645229778153
        ],
        "target_point_next": [
            54.58787086867113,
            0.9250804641465978
        ]
    },
    "95": {
        "acceleration": [
            0.06269320845603943,
            0.6072473526000977,
            0.007349010556936264
        ],
        "angular_velocity": [
            0.17480921745300293,
            -0.05058647319674492,
            -0.5080627799034119
        ],
        "forward_vector": [
            0.019058525562286377,
            0.9998155832290649,
            -0.0023697589058429003
        ],
        "right_vector": [
            -0.9998183250427246,
            0.019057855010032654,
            -0.00030487915500998497
        ],
        "location": [
            -1566.9930419921875,
            5744.10791015625,
            376.1829528808594
        ],
        "rotation": [
            0.01746833696961403,
            -0.1357773244380951,
            88.907958984375
        ],
        "velocity": [
            0.07059437781572342,
            3.0329370498657227,
            -0.009314222261309624
        ],
        "speed": 3.0337585129056306,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.275014877319336,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1558837890625,
                5769.38232421875,
                376.1207580566406
            ],
            "velocity": [
                0.01417189184576273,
                1.4395240545272827,
                -0.0027806281577795744
            ],
            "speed_kmh": 5.182547393950626,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007787704467773,
                "transform": {
                    "location": {
                        "x": -1564.19873046875,
                        "y": 5771.50244140625,
                        "z": 376.1123046875
                    },
                    "rotation": {
                        "roll": 0.002417147159576416,
                        "pitch": 0.1415351778268814,
                        "yaw": -90.12371826171875
                    }
                },
                "velocity": {
                    "x": -0.018943939357995987,
                    "y": -8.007736206054688,
                    "z": 0.021541623398661613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3984154462814331,
                "transform": {
                    "location": {
                        "x": -1567.2652587890625,
                        "y": 5714.96923828125,
                        "z": 376.2667541503906
                    },
                    "rotation": {
                        "roll": 0.0006732155452482402,
                        "pitch": -0.38330337405204773,
                        "yaw": 90.00381469726562
                    }
                },
                "velocity": {
                    "x": -0.00040791681385599077,
                    "y": 0.3984086215496063,
                    "z": -0.0022921753115952015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.986531972885132,
                "transform": {
                    "location": {
                        "x": -1567.2305908203125,
                        "y": 5729.400390625,
                        "z": 376.2218017578125
                    },
                    "rotation": {
                        "roll": -0.0061340294778347015,
                        "pitch": 0.22313544154167175,
                        "yaw": 89.76770782470703
                    }
                },
                "velocity": {
                    "x": 0.0013137453934177756,
                    "y": 2.9865212440490723,
                    "z": -0.007891520857810974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.43959641456604,
                "transform": {
                    "location": {
                        "x": -1567.1558837890625,
                        "y": 5769.38232421875,
                        "z": 376.1207580566406
                    },
                    "rotation": {
                        "roll": 0.003501481143757701,
                        "pitch": -0.12777917087078094,
                        "yaw": 88.79447174072266
                    }
                },
                "velocity": {
                    "x": 0.01417189184576273,
                    "y": 1.4395240545272827,
                    "z": -0.0027806281577795744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8246686458587646,
                "transform": {
                    "location": {
                        "x": -1567.1121826171875,
                        "y": 5785.111328125,
                        "z": 376.08404541015625
                    },
                    "rotation": {
                        "roll": 0.0007960438961163163,
                        "pitch": -0.23551173508167267,
                        "yaw": 89.90750885009766
                    }
                },
                "velocity": {
                    "x": 0.006987216416746378,
                    "y": 3.8246495723724365,
                    "z": -0.00988988857716322
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16051161289215088,
        "expert_target_speed": 4.1369909103689215,
        "target_point": [
            41.605809207261466,
            0.8141840362601763
        ],
        "target_point_next": [
            53.84195127503764,
            1.0174223246218994
        ]
    },
    "100": {
        "acceleration": [
            0.04074707627296448,
            0.693202018737793,
            -0.0030443258583545685
        ],
        "angular_velocity": [
            0.12357085198163986,
            0.0023998075630515814,
            -0.5291655659675598
        ],
        "forward_vector": [
            0.02131376415491104,
            0.9997712969779968,
            -0.0017656077397987247
        ],
        "right_vector": [
            -0.9997727870941162,
            0.021313278004527092,
            -0.0002933334617409855
        ],
        "location": [
            -1566.9744873046875,
            5744.88720703125,
            376.18072509765625
        ],
        "rotation": [
            0.016806796193122864,
            -0.10116192698478699,
            88.77871704101562
        ],
        "velocity": [
            0.08197036385536194,
            3.200089693069458,
            -0.009460248984396458
        ],
        "speed": 3.201139357203925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.972875595092773,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.152099609375,
                5769.859375,
                376.1197509765625
            ],
            "velocity": [
                0.0190736074000597,
                2.424767255783081,
                -0.006052064709365368
            ],
            "speed_kmh": 8.729459370669405,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035400390625,
                "transform": {
                    "location": {
                        "x": -1564.20361328125,
                        "y": 5769.49755859375,
                        "z": 376.1173095703125
                    },
                    "rotation": {
                        "roll": 0.002438572235405445,
                        "pitch": 0.14834487438201904,
                        "yaw": -90.13320922851562
                    }
                },
                "velocity": {
                    "x": -0.01991312764585018,
                    "y": -8.035346031188965,
                    "z": 0.021664904430508614
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4436123371124268,
                "transform": {
                    "location": {
                        "x": -1567.265380859375,
                        "y": 5715.21630859375,
                        "z": 376.2663879394531
                    },
                    "rotation": {
                        "roll": -0.0003967318625655025,
                        "pitch": -0.09978906065225601,
                        "yaw": 90.01924133300781
                    }
                },
                "velocity": {
                    "x": -0.0005515139200724661,
                    "y": 1.4436088800430298,
                    "z": -0.0031331824138760567
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.405401706695557,
                "transform": {
                    "location": {
                        "x": -1567.2301025390625,
                        "y": 5730.33740234375,
                        "z": 376.2185363769531
                    },
                    "rotation": {
                        "roll": -0.008056635968387127,
                        "pitch": 0.39227139949798584,
                        "yaw": 89.87235260009766
                    }
                },
                "velocity": {
                    "x": 2.8015167117700912e-05,
                    "y": 4.4053874015808105,
                    "z": -0.011201829649508
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.42484974861145,
                "transform": {
                    "location": {
                        "x": -1567.152099609375,
                        "y": 5769.859375,
                        "z": 376.1197509765625
                    },
                    "rotation": {
                        "roll": -0.0033264171797782183,
                        "pitch": -0.017642376944422722,
                        "yaw": 89.02384948730469
                    }
                },
                "velocity": {
                    "x": 0.0190736074000597,
                    "y": 2.424767255783081,
                    "z": -0.006052064709365368
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.191286087036133,
                "transform": {
                    "location": {
                        "x": -1567.110107421875,
                        "y": 5786.1123046875,
                        "z": 376.0816650390625
                    },
                    "rotation": {
                        "roll": -0.000335693679517135,
                        "pitch": -0.10510294884443283,
                        "yaw": 89.90351867675781
                    }
                },
                "velocity": {
                    "x": 0.0070181963965296745,
                    "y": 4.191269874572754,
                    "z": -0.009153937920928001
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1826375424861908,
        "expert_target_speed": 4.299837959098395,
        "target_point": [
            40.82435150341928,
            0.9099701663217215
        ],
        "target_point_next": [
            53.06000400216607,
            1.140808712862545
        ]
    },
    "105": {
        "acceleration": [
            0.0613190233707428,
            0.9330368041992188,
            0.0060613639652729034
        ],
        "angular_velocity": [
            0.07952132076025009,
            -0.0014807318802922964,
            -0.5688727498054504
        ],
        "forward_vector": [
            0.02370450831949711,
            0.9997181296348572,
            -0.001333832275122404
        ],
        "right_vector": [
            -0.999718964099884,
            0.023704126477241516,
            -0.0002996759722009301
        ],
        "location": [
            -1566.9527587890625,
            5745.71484375,
            376.1784362792969
        ],
        "rotation": [
            0.01717018336057663,
            -0.07642298191785812,
            88.6417007446289
        ],
        "velocity": [
            0.09553103148937225,
            3.412341833114624,
            -0.00945605244487524
        ],
        "speed": 3.4136788021138567,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.955419540405273,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.14697265625,
                5770.66943359375,
                376.1178894042969
            ],
            "velocity": [
                0.02311134524643421,
                3.9913995265960693,
                -0.010171002708375454
            ],
            "speed_kmh": 14.369325823703258,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023929595947266,
                "transform": {
                    "location": {
                        "x": -1564.2083740234375,
                        "y": 5767.4892578125,
                        "z": 376.1223449707031
                    },
                    "rotation": {
                        "roll": 0.0007238757680170238,
                        "pitch": 0.15048271417617798,
                        "yaw": -90.13607788085938
                    }
                },
                "velocity": {
                    "x": -0.019062621518969536,
                    "y": -8.023879051208496,
                    "z": 0.021149959415197372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4321630001068115,
                "transform": {
                    "location": {
                        "x": -1567.265380859375,
                        "y": 5715.6923828125,
                        "z": 376.2651062011719
                    },
                    "rotation": {
                        "roll": -0.00033569399965927005,
                        "pitch": -0.0254766047000885,
                        "yaw": 90.02545928955078
                    }
                },
                "velocity": {
                    "x": -0.001516356016509235,
                    "y": 2.432155132293701,
                    "z": -0.005980367306619883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.391425609588623,
                "transform": {
                    "location": {
                        "x": -1567.2298583984375,
                        "y": 5731.59716796875,
                        "z": 376.2154846191406
                    },
                    "rotation": {
                        "roll": -0.006500235293060541,
                        "pitch": 0.37160325050354004,
                        "yaw": 89.95711517333984
                    }
                },
                "velocity": {
                    "x": -0.0015910796355456114,
                    "y": 5.391408443450928,
                    "z": -0.013572015799582005
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9914793968200684,
                "transform": {
                    "location": {
                        "x": -1567.14697265625,
                        "y": 5770.66943359375,
                        "z": 376.1178894042969
                    },
                    "rotation": {
                        "roll": -0.0071105933748185635,
                        "pitch": 0.07974245399236679,
                        "yaw": 89.32774353027344
                    }
                },
                "velocity": {
                    "x": 0.02311134524643421,
                    "y": 3.9913995265960693,
                    "z": -0.010171002708375454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.756390333175659,
                "transform": {
                    "location": {
                        "x": -1567.1080322265625,
                        "y": 5787.09619140625,
                        "z": 376.0793151855469
                    },
                    "rotation": {
                        "roll": -0.0005798423662781715,
                        "pitch": -0.19388173520565033,
                        "yaw": 89.90373992919922
                    }
                },
                "velocity": {
                    "x": 0.00626271590590477,
                    "y": 3.7563717365264893,
                    "z": -0.01001623086631298
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21037264168262482,
        "expert_target_speed": 4.510188996837984,
        "target_point": [
            39.99414503967265,
            1.00947482776686
        ],
        "target_point_next": [
            52.22921196720322,
            1.2695051788906406
        ]
    },
    "110": {
        "acceleration": [
            -0.03847301006317139,
            0.8598089218139648,
            0.0057184137403965
        ],
        "angular_velocity": [
            0.023856978863477707,
            0.09281953424215317,
            -0.1507243812084198
        ],
        "forward_vector": [
            0.02570161409676075,
            0.999669075012207,
            -0.001098274951800704
        ],
        "right_vector": [
            -0.9996696710586548,
            0.025701481848955154,
            -0.00013422859774436802
        ],
        "location": [
            -1566.9283447265625,
            5746.59619140625,
            376.17596435546875
        ],
        "rotation": [
            0.007690736558288336,
            -0.0629265308380127,
            88.5272445678711
        ],
        "velocity": [
            0.09840963780879974,
            3.6344597339630127,
            -0.009276704862713814
        ],
        "speed": 3.6357918002289615,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.03761100769043,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.142578125,
                5771.6328125,
                376.115234375
            ],
            "velocity": [
                0.01385451015084982,
                3.532358407974243,
                -0.009213103912770748
            ],
            "speed_kmh": 12.716631332807262,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029622077941895,
                "transform": {
                    "location": {
                        "x": -1564.2132568359375,
                        "y": 5765.48291015625,
                        "z": 376.1274108886719
                    },
                    "rotation": {
                        "roll": 0.0002467413723934442,
                        "pitch": 0.1470676213502884,
                        "yaw": -90.13628387451172
                    }
                },
                "velocity": {
                    "x": -0.019114991649985313,
                    "y": -8.029570579528809,
                    "z": 0.02156675234436989
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.023420810699463,
                "transform": {
                    "location": {
                        "x": -1567.265869140625,
                        "y": 5716.50439453125,
                        "z": 376.26287841796875
                    },
                    "rotation": {
                        "roll": 4.4609696487896144e-05,
                        "pitch": 0.06221618875861168,
                        "yaw": 90.03385925292969
                    }
                },
                "velocity": {
                    "x": -0.0023997279349714518,
                    "y": 4.023407459259033,
                    "z": -0.010129890404641628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.1586198806762695,
                "transform": {
                    "location": {
                        "x": -1567.2293701171875,
                        "y": 5732.984375,
                        "z": 376.2122497558594
                    },
                    "rotation": {
                        "roll": 0.0004688049666583538,
                        "pitch": 0.21175634860992432,
                        "yaw": 89.97594451904297
                    }
                },
                "velocity": {
                    "x": 0.0026351879350841045,
                    "y": 6.158596515655518,
                    "z": -0.01676730066537857
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.532397508621216,
                "transform": {
                    "location": {
                        "x": -1567.142578125,
                        "y": 5771.6328125,
                        "z": 376.115234375
                    },
                    "rotation": {
                        "roll": -0.003936781082302332,
                        "pitch": -0.13562022149562836,
                        "yaw": 89.55872344970703
                    }
                },
                "velocity": {
                    "x": 0.01385451015084982,
                    "y": 3.532358407974243,
                    "z": -0.009213103912770748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.890214204788208,
                "transform": {
                    "location": {
                        "x": -1567.106201171875,
                        "y": 5788.0517578125,
                        "z": 376.0770568847656
                    },
                    "rotation": {
                        "roll": -0.00018310159794054925,
                        "pitch": -0.13428151607513428,
                        "yaw": 89.89920806884766
                    }
                },
                "velocity": {
                    "x": 0.006929253693670034,
                    "y": 3.8901960849761963,
                    "z": -0.00963933952152729
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2354244887828827,
        "expert_target_speed": 4.721142251487479,
        "target_point": [
            39.11035914906548,
            1.0913220556659387
        ],
        "target_point_next": [
            51.34488077334949,
            1.3758552340211665
        ]
    },
    "115": {
        "acceleration": [
            0.021279603242874146,
            1.0236930847167969,
            -0.007923319935798645
        ],
        "angular_velocity": [
            0.03701053187251091,
            -0.01790064014494419,
            0.043628718703985214
        ],
        "forward_vector": [
            0.025632379576563835,
            0.9996710419654846,
            -0.0009299514931626618
        ],
        "right_vector": [
            -0.999671459197998,
            0.02563239447772503,
            4.7936914597812574e-06
        ],
        "location": [
            -1566.904052734375,
            5747.5361328125,
            376.1734619140625
        ],
        "rotation": [
            -0.0002746584068518132,
            -0.053282301872968674,
            88.53121185302734
        ],
        "velocity": [
            0.09825025498867035,
            3.875756025314331,
            -0.010157765820622444
        ],
        "speed": 3.877001145262364,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.00118637084961,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1400146484375,
                5772.5361328125,
                376.1129455566406
            ],
            "velocity": [
                0.012187414802610874,
                3.833709239959717,
                -0.010279054753482342
            ],
            "speed_kmh": 13.801472611378802,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022195816040039,
                "transform": {
                    "location": {
                        "x": -1564.2181396484375,
                        "y": 5763.4765625,
                        "z": 376.1324462890625
                    },
                    "rotation": {
                        "roll": -0.00024414008657913655,
                        "pitch": 0.15160970389842987,
                        "yaw": -90.13951873779297
                    }
                },
                "velocity": {
                    "x": -0.019591698423027992,
                    "y": -8.022144317626953,
                    "z": 0.021097727119922638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.409165859222412,
                "transform": {
                    "location": {
                        "x": -1567.2662353515625,
                        "y": 5717.6943359375,
                        "z": 376.25982666015625
                    },
                    "rotation": {
                        "roll": 0.0014167479239404202,
                        "pitch": 0.060693059116601944,
                        "yaw": 90.0083236694336
                    }
                },
                "velocity": {
                    "x": 0.0019837261643260717,
                    "y": 5.409147262573242,
                    "z": -0.01409719418734312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.1969146728515625,
                "transform": {
                    "location": {
                        "x": -1567.2283935546875,
                        "y": 5734.5849609375,
                        "z": 376.2083435058594
                    },
                    "rotation": {
                        "roll": 0.0013512076111510396,
                        "pitch": 0.06304264068603516,
                        "yaw": 89.96800231933594
                    }
                },
                "velocity": {
                    "x": 0.003744113026186824,
                    "y": 6.196889400482178,
                    "z": -0.01715822145342827
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.833742380142212,
                "transform": {
                    "location": {
                        "x": -1567.1400146484375,
                        "y": 5772.5361328125,
                        "z": 376.1129455566406
                    },
                    "rotation": {
                        "roll": -0.0023498523514717817,
                        "pitch": -0.10424917191267014,
                        "yaw": 89.69588470458984
                    }
                },
                "velocity": {
                    "x": 0.012187414802610874,
                    "y": 3.833709239959717,
                    "z": -0.010279054753482342
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.5915496349334717,
                "transform": {
                    "location": {
                        "x": -1567.1043701171875,
                        "y": 5788.97607421875,
                        "z": 376.0748291015625
                    },
                    "rotation": {
                        "roll": 0.000601259816903621,
                        "pitch": -0.1832812875509262,
                        "yaw": 89.8906478881836
                    }
                },
                "velocity": {
                    "x": 0.007966605015099049,
                    "y": 3.5915279388427734,
                    "z": -0.009625977836549282
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25804874300956726,
        "expert_target_speed": 4.951311818028397,
        "target_point": [
            38.170182388239525,
            1.0886980154802766
        ],
        "target_point_next": [
            50.40472446788432,
            1.3723502780456882
        ]
    },
    "120": {
        "acceleration": [
            0.10756358504295349,
            0.7692527770996094,
            -6.884336471557617e-05
        ],
        "angular_velocity": [
            -0.0429399237036705,
            -0.04655185714364052,
            -0.3323829770088196
        ],
        "forward_vector": [
            0.025985004380345345,
            0.9996619820594788,
            -0.0008729694527573884
        ],
        "right_vector": [
            -0.9996623396873474,
            0.025984853506088257,
            -0.00018407749303150922
        ],
        "location": [
            -1566.8778076171875,
            5748.5361328125,
            376.1707763671875
        ],
        "rotation": [
            0.010546867735683918,
            -0.050017472356557846,
            88.51100158691406
        ],
        "velocity": [
            0.11420154571533203,
            4.103952407836914,
            -0.009809045121073723
        ],
        "speed": 4.105541055553357,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.891563415527344,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.137451171875,
                5773.42626953125,
                376.1107482910156
            ],
            "velocity": [
                0.008998112753033638,
                3.4354448318481445,
                -0.009327173233032227
            ],
            "speed_kmh": 12.367689398067057,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034127235412598,
                "transform": {
                    "location": {
                        "x": -1564.22314453125,
                        "y": 5761.46923828125,
                        "z": 376.1375732421875
                    },
                    "rotation": {
                        "roll": 6.612766446778551e-05,
                        "pitch": 0.15147992968559265,
                        "yaw": -90.13963317871094
                    }
                },
                "velocity": {
                    "x": -0.019561655819416046,
                    "y": -8.034074783325195,
                    "z": 0.021480044350028038
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.804063320159912,
                "transform": {
                    "location": {
                        "x": -1567.265380859375,
                        "y": 5719.10791015625,
                        "z": 376.255615234375
                    },
                    "rotation": {
                        "roll": 0.0008175269467756152,
                        "pitch": -0.05209384858608246,
                        "yaw": 90.01844024658203
                    }
                },
                "velocity": {
                    "x": 0.0021538606379181147,
                    "y": 5.80403470993042,
                    "z": -0.01806352101266384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5155699849128723,
                "transform": {
                    "location": {
                        "x": -1567.227783203125,
                        "y": 5735.470703125,
                        "z": 376.2115173339844
                    },
                    "rotation": {
                        "roll": 0.00022339462884701788,
                        "pitch": -1.5284664630889893,
                        "yaw": 89.96251678466797
                    }
                },
                "velocity": {
                    "x": 0.0002562247100286186,
                    "y": 0.5155591368675232,
                    "z": -0.0033371734898537397
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.435469388961792,
                "transform": {
                    "location": {
                        "x": -1567.137451171875,
                        "y": 5773.42626953125,
                        "z": 376.1107482910156
                    },
                    "rotation": {
                        "roll": -0.001770020928233862,
                        "pitch": -0.1748938113451004,
                        "yaw": 89.76882934570312
                    }
                },
                "velocity": {
                    "x": 0.008998112753033638,
                    "y": 3.4354448318481445,
                    "z": -0.009327173233032227
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7021377086639404,
                "transform": {
                    "location": {
                        "x": -1567.102294921875,
                        "y": 5789.919921875,
                        "z": 376.07257080078125
                    },
                    "rotation": {
                        "roll": 0.0003701852692756802,
                        "pitch": -0.13590025901794434,
                        "yaw": 89.88674926757812
                    }
                },
                "velocity": {
                    "x": 0.007305907551199198,
                    "y": 3.702117919921875,
                    "z": -0.009691495448350906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28219738602638245,
        "expert_target_speed": 5.163947830600966,
        "target_point": [
            37.16945075398054,
            1.1024453641126792
        ],
        "target_point_next": [
            49.40389177659754,
            1.390423434049075
        ]
    },
    "125": {
        "acceleration": [
            0.05854099988937378,
            0.8132743835449219,
            -0.0056116096675395966
        ],
        "angular_velocity": [
            -0.025572236627340317,
            -0.010755103081464767,
            -0.4274098575115204
        ],
        "forward_vector": [
            0.02777511440217495,
            0.9996136426925659,
            -0.0010440346086397767
        ],
        "right_vector": [
            -0.9996141195297241,
            0.027774812653660774,
            -0.0003013852401636541
        ],
        "location": [
            -1566.847412109375,
            5749.5869140625,
            376.16802978515625
        ],
        "rotation": [
            0.017268111929297447,
            -0.05981879308819771,
            88.40840148925781
        ],
        "velocity": [
            0.1301182210445404,
            4.295748710632324,
            -0.01029797550290823
        ],
        "speed": 4.297718899177455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.830354690551758,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1353759765625,
                5774.41552734375,
                376.1083984375
            ],
            "velocity": [
                0.010023693554103374,
                4.572359085083008,
                -0.010109472088515759
            ],
            "speed_kmh": 16.460572493483983,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01809024810791,
                "transform": {
                    "location": {
                        "x": -1564.2279052734375,
                        "y": 5759.46337890625,
                        "z": 376.1427307128906
                    },
                    "rotation": {
                        "roll": -0.0007324268808588386,
                        "pitch": 0.1510564535856247,
                        "yaw": -90.14189147949219
                    }
                },
                "velocity": {
                    "x": -0.0198355745524168,
                    "y": -8.018036842346191,
                    "z": 0.021177157759666443
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.730091094970703,
                "transform": {
                    "location": {
                        "x": -1567.2645263671875,
                        "y": 5720.7744140625,
                        "z": 376.2510070800781
                    },
                    "rotation": {
                        "roll": 0.0006538015441037714,
                        "pitch": 0.1033066064119339,
                        "yaw": 89.98001861572266
                    }
                },
                "velocity": {
                    "x": 0.004619182553142309,
                    "y": 7.7300567626953125,
                    "z": -0.022542128339409828
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.436721920967102,
                "transform": {
                    "location": {
                        "x": -1567.2276611328125,
                        "y": 5735.66259765625,
                        "z": 376.20794677734375
                    },
                    "rotation": {
                        "roll": 0.00455095199868083,
                        "pitch": -0.7523179650306702,
                        "yaw": 90.01213836669922
                    }
                },
                "velocity": {
                    "x": 0.00041438345215283334,
                    "y": 1.4367204904556274,
                    "z": -0.0019814299885183573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.572381496429443,
                "transform": {
                    "location": {
                        "x": -1567.1353759765625,
                        "y": 5774.41552734375,
                        "z": 376.1083984375
                    },
                    "rotation": {
                        "roll": -0.0008544931770302355,
                        "pitch": -0.01846200041472912,
                        "yaw": 89.82965087890625
                    }
                },
                "velocity": {
                    "x": 0.010023693554103374,
                    "y": 4.572359085083008,
                    "z": -0.010109472088515759
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6254966259002686,
                "transform": {
                    "location": {
                        "x": -1567.1002197265625,
                        "y": 5790.8046875,
                        "z": 376.0704345703125
                    },
                    "rotation": {
                        "roll": -0.000244140115682967,
                        "pitch": -0.15408222377300262,
                        "yaw": 89.88525390625
                    }
                },
                "velocity": {
                    "x": 0.007270438596606255,
                    "y": 3.6254758834838867,
                    "z": -0.009855737909674644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3104845881462097,
        "expert_target_speed": 5.349318933493915,
        "target_point": [
            36.1161960087535,
            1.1702293993252475
        ],
        "target_point_next": [
            48.350101492954515,
            1.480124717608945
        ]
    },
    "130": {
        "acceleration": [
            0.059185922145843506,
            0.7648944854736328,
            0.007283780723810196
        ],
        "angular_velocity": [
            -0.018329914659261703,
            0.04789377376437187,
            -0.444092333316803
        ],
        "forward_vector": [
            0.02967642992734909,
            0.9995589852333069,
            -0.0011004206025972962
        ],
        "right_vector": [
            -0.9995595216751099,
            0.029676111415028572,
            -0.0003029011422768235
        ],
        "location": [
            -1566.8133544921875,
            5750.6865234375,
            376.1651611328125
        ],
        "rotation": [
            0.017354967072606087,
            -0.06304947286844254,
            88.2994155883789
        ],
        "velocity": [
            0.144545316696167,
            4.4926557540893555,
            -0.010190772823989391
        ],
        "speed": 4.494980430806233,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.024078369140625,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.132568359375,
                5775.70849609375,
                376.1056823730469
            ],
            "velocity": [
                0.009953752160072327,
                5.4593186378479,
                -0.014382162131369114
            ],
            "speed_kmh": 19.6536479625709,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 376.4383850097656
                    },
                    "rotation": {
                        "roll": 6.6701253409462424e-09,
                        "pitch": 0.13735510408878326,
                        "yaw": -90.14047241210938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036298751831055,
                "transform": {
                    "location": {
                        "x": -1564.2327880859375,
                        "y": 5757.4560546875,
                        "z": 376.14788818359375
                    },
                    "rotation": {
                        "roll": -0.000274669291684404,
                        "pitch": 0.15488819777965546,
                        "yaw": -90.1413803100586
                    }
                },
                "velocity": {
                    "x": -0.019888902083039284,
                    "y": -8.036245346069336,
                    "z": 0.021632203832268715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.394920825958252,
                "transform": {
                    "location": {
                        "x": -1567.2630615234375,
                        "y": 5722.71875,
                        "z": 376.24530029296875
                    },
                    "rotation": {
                        "roll": 0.0014005191624164581,
                        "pitch": -0.1317133605480194,
                        "yaw": 89.9698486328125
                    }
                },
                "velocity": {
                    "x": 0.007492000702768564,
                    "y": 7.394885063171387,
                    "z": -0.021679023280739784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.4086391925811768,
                "transform": {
                    "location": {
                        "x": -1567.2274169921875,
                        "y": 5736.1416015625,
                        "z": 376.2042541503906
                    },
                    "rotation": {
                        "roll": 0.0027403710409998894,
                        "pitch": -0.055085472762584686,
                        "yaw": 90.01197814941406
                    }
                },
                "velocity": {
                    "x": 0.0018539780285209417,
                    "y": 2.408629894256592,
                    "z": -0.006432876456528902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.459346294403076,
                "transform": {
                    "location": {
                        "x": -1567.132568359375,
                        "y": 5775.70849609375,
                        "z": 376.1056823730469
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.0017416981281712651,
                        "yaw": 89.8244400024414
                    }
                },
                "velocity": {
                    "x": 0.009953752160072327,
                    "y": 5.4593186378479,
                    "z": -0.014382162131369114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0788486003875732,
                "transform": {
                    "location": {
                        "x": -1567.098388671875,
                        "y": 5791.6875,
                        "z": 376.0682678222656
                    },
                    "rotation": {
                        "roll": 0.0001339034060947597,
                        "pitch": -0.2227119654417038,
                        "yaw": 89.88347625732422
                    }
                },
                "velocity": {
                    "x": 0.0063194637186825275,
                    "y": 3.078831434249878,
                    "z": -0.008054475300014019
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34580284357070923,
        "expert_target_speed": 5.539150707816491,
        "target_point": [
            35.013768121576476,
            1.2403585349365054
        ],
        "target_point_next": [
            47.24706178377302,
            1.5735321820330868
        ]
    },
    "135": {
        "acceleration": [
            0.06285488605499268,
            0.7647228240966797,
            -0.01303941011428833
        ],
        "angular_velocity": [
            0.00014010287122800946,
            0.0029176250100135803,
            -0.4614894390106201
        ],
        "forward_vector": [
            0.031654488295316696,
            0.999498188495636,
            -0.0011355873430147767
        ],
        "right_vector": [
            -0.9994987845420837,
            0.03165414556860924,
            -0.00031907620723359287
        ],
        "location": [
            -1566.7757568359375,
            5751.8349609375,
            376.1622314453125
        ],
        "rotation": [
            0.018281731754541397,
            -0.06506437808275223,
            88.18602752685547
        ],
        "velocity": [
            0.15985558927059174,
            4.684246063232422,
            -0.012579078786075115
        ],
        "speed": 4.686972902666442,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.28233528137207,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1297607421875,
                5777.11474609375,
                376.10211181640625
            ],
            "velocity": [
                0.010488147847354412,
                6.325285911560059,
                -0.015072440728545189
            ],
            "speed_kmh": 22.771125233359164,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3335458040237427,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 376.0457763671875
                    },
                    "rotation": {
                        "roll": 0.0027764267288148403,
                        "pitch": 0.13987544178962708,
                        "yaw": -90.1405029296875
                    }
                },
                "velocity": {
                    "x": 9.527926158625633e-05,
                    "y": -0.0032534399069845676,
                    "z": -1.3335418701171875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01754093170166,
                "transform": {
                    "location": {
                        "x": -1564.23779296875,
                        "y": 5755.44921875,
                        "z": 376.153076171875
                    },
                    "rotation": {
                        "roll": -0.0005798343918286264,
                        "pitch": 0.1532694399356842,
                        "yaw": -90.14147186279297
                    }
                },
                "velocity": {
                    "x": -0.019809914752840996,
                    "y": -8.017488479614258,
                    "z": 0.021261481568217278
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.328408718109131,
                "transform": {
                    "location": {
                        "x": -1567.2608642578125,
                        "y": 5724.31298828125,
                        "z": 376.24017333984375
                    },
                    "rotation": {
                        "roll": 0.0006437713745981455,
                        "pitch": -0.5157749056816101,
                        "yaw": 89.84685516357422
                    }
                },
                "velocity": {
                    "x": 0.004978734068572521,
                    "y": 4.328371047973633,
                    "z": -0.017340917140245438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.814929485321045,
                "transform": {
                    "location": {
                        "x": -1567.2265625,
                        "y": 5736.923828125,
                        "z": 376.2008361816406
                    },
                    "rotation": {
                        "roll": 0.0032900318037718534,
                        "pitch": 0.28906723856925964,
                        "yaw": 89.98368835449219
                    }
                },
                "velocity": {
                    "x": 0.005550408270210028,
                    "y": 3.8149123191833496,
                    "z": -0.010019883513450623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.325312614440918,
                "transform": {
                    "location": {
                        "x": -1567.1297607421875,
                        "y": 5777.11474609375,
                        "z": 376.10211181640625
                    },
                    "rotation": {
                        "roll": -0.0013732914812862873,
                        "pitch": -0.010006226599216461,
                        "yaw": 89.9167251586914
                    }
                },
                "velocity": {
                    "x": 0.010488147847354412,
                    "y": 6.325285911560059,
                    "z": -0.015072440728545189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.017914028838276863,
                "transform": {
                    "location": {
                        "x": -1567.097412109375,
                        "y": 5792.19091796875,
                        "z": 376.06695556640625
                    },
                    "rotation": {
                        "roll": -6.104858039179817e-05,
                        "pitch": -0.636962890625,
                        "yaw": 89.88387298583984
                    }
                },
                "velocity": {
                    "x": 0.0001511669106548652,
                    "y": 0.017904967069625854,
                    "z": 0.0005493080243468285
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39349398016929626,
        "expert_target_speed": 5.723242445866201,
        "target_point": [
            33.862195745662746,
            1.3107955134663183
        ],
        "target_point_next": [
            46.094806913948304,
            1.6681503933730146
        ]
    },
    "140": {
        "acceleration": [
            0.0666394829750061,
            0.7488250732421875,
            -0.005982592701911926
        ],
        "angular_velocity": [
            0.0032924418337643147,
            -0.01639997772872448,
            -0.4788530766963959
        ],
        "forward_vector": [
            0.033706650137901306,
            0.9994311332702637,
            -0.0011610982473939657
        ],
        "right_vector": [
            -0.9994317293167114,
            0.03370627760887146,
            -0.000336848315782845
        ],
        "location": [
            -1566.7340087890625,
            5753.0302734375,
            376.1590270996094
        ],
        "rotation": [
            0.019300000742077827,
            -0.06652604043483734,
            88.0683822631836
        ],
        "velocity": [
            0.17612962424755096,
            4.873770713806152,
            -0.013697471469640732
        ],
        "speed": 4.876952185052886,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.808242797851562,
        "front_vehicle_info": {
            "id": 4535,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.127197265625,
                5778.83544921875,
                376.0978698730469
            ],
            "velocity": [
                0.009889595210552216,
                6.6817522048950195,
                -0.017073221504688263
            ],
            "speed_kmh": 24.05441281080888,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.24723666906356812,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 376.0152587890625
                    },
                    "rotation": {
                        "roll": 0.0028014732524752617,
                        "pitch": 0.14186301827430725,
                        "yaw": -90.14049530029297
                    }
                },
                "velocity": {
                    "x": 9.133485582424328e-05,
                    "y": 0.0005908773746341467,
                    "z": 0.24723593890666962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035235404968262,
                "transform": {
                    "location": {
                        "x": -1564.24267578125,
                        "y": 5753.44384765625,
                        "z": 376.1583557128906
                    },
                    "rotation": {
                        "roll": 0.0002592613163869828,
                        "pitch": 0.15548241138458252,
                        "yaw": -90.14501190185547
                    }
                },
                "velocity": {
                    "x": -0.02035806141793728,
                    "y": -8.03518009185791,
                    "z": 0.021702194586396217
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.43677473068237305,
                "transform": {
                    "location": {
                        "x": -1567.2603759765625,
                        "y": 5724.6416015625,
                        "z": 376.23883056640625
                    },
                    "rotation": {
                        "roll": 0.0011165121104568243,
                        "pitch": -0.7528029084205627,
                        "yaw": 89.80358123779297
                    }
                },
                "velocity": {
                    "x": 0.0026066210120916367,
                    "y": 0.43676677346229553,
                    "z": 0.0003956031578127295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.138841152191162,
                "transform": {
                    "location": {
                        "x": -1567.2249755859375,
                        "y": 5738.05224609375,
                        "z": 376.1974792480469
                    },
                    "rotation": {
                        "roll": 0.0039001749828457832,
                        "pitch": 0.40434035658836365,
                        "yaw": 89.9457778930664
                    }
                },
                "velocity": {
                    "x": 0.007870366796851158,
                    "y": 5.138826370239258,
                    "z": -0.009603681042790413
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4535,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.68178129196167,
                "transform": {
                    "location": {
                        "x": -1567.127197265625,
                        "y": 5778.83544921875,
                        "z": 376.0978698730469
                    },
                    "rotation": {
                        "roll": -0.0010986339766532183,
                        "pitch": -0.0681106448173523,
                        "yaw": 89.94467163085938
                    }
                },
                "velocity": {
                    "x": 0.009889595210552216,
                    "y": 6.6817522048950195,
                    "z": -0.017073221504688263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4534,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004103859420865774,
                "transform": {
                    "location": {
                        "x": -1567.097412109375,
                        "y": 5792.1923828125,
                        "z": 376.0670166015625
                    },
                    "rotation": {
                        "roll": 0.00021021896100137383,
                        "pitch": -0.34884506464004517,
                        "yaw": 89.88375091552734
                    }
                },
                "velocity": {
                    "x": -8.578774577472359e-05,
                    "y": -0.004040108062326908,
                    "z": 0.0007154223276302218
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43569743633270264,
        "expert_target_speed": 5.903270057568145,
        "target_point": [
            32.66339183187566,
            1.3817717058207157
        ],
        "target_point_next": [
            44.89524328993045,
            1.7642483884310907
        ]
    },
    "145": {
        "acceleration": [
            0.0696060061454773,
            0.60699462890625,
            -0.029289815574884415
        ],
        "angular_velocity": [
            -0.04192864149808884,
            0.019129091873764992,
            -0.5031929612159729
        ],
        "forward_vector": [
            0.03583598509430885,
            0.9993569850921631,
            -0.001191496616229415
        ],
        "right_vector": [
            -0.9993576407432556,
            0.03583558276295662,
            -0.00035786631633527577
        ],
        "location": [
            -1566.6883544921875,
            5754.2724609375,
            376.1559753417969
        ],
        "rotation": [
            0.020504245534539223,
            -0.06826774030923843,
            87.9463119506836
        ],
        "velocity": [
            0.19325461983680725,
            5.0505170822143555,
            -0.011059350334107876
        ],
        "speed": 5.054213108469733,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1501.6480712890625,
                        "y": 5780.36865234375,
                        "z": 375.8231506347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8387973308563232,
                "transform": {
                    "location": {
                        "x": -1585.4598388671875,
                        "y": 5816.93408203125,
                        "z": 376.1551513671875
                    },
                    "rotation": {
                        "roll": 0.000468794081825763,
                        "pitch": 0.2823600172996521,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": -0.0036354749463498592,
                    "y": 0.001868830411694944,
                    "z": -0.8387873768806458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5205248594284058,
                "transform": {
                    "location": {
                        "x": -1552.8118896484375,
                        "y": 5802.6904296875,
                        "z": 376.0027160644531
                    },
                    "rotation": {
                        "roll": 0.001687806798145175,
                        "pitch": 0.2999272644519806,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": -0.0024466959293931723,
                    "y": 0.001120185130275786,
                    "z": -0.520517885684967
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.838520884513855,
                "transform": {
                    "location": {
                        "x": -1519.8155517578125,
                        "y": 5788.294921875,
                        "z": 375.7953796386719
                    },
                    "rotation": {
                        "roll": 0.00010604252020129934,
                        "pitch": 0.26969000697135925,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": -0.003654373809695244,
                    "y": 0.0014085824368521571,
                    "z": -0.8385117650032043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.058803826570510864,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 376.0530090332031
                    },
                    "rotation": {
                        "roll": 0.003019146155565977,
                        "pitch": 0.1412278115749359,
                        "yaw": -90.14049530029297
                    }
                },
                "velocity": {
                    "x": 5.218628575676121e-05,
                    "y": 0.00015394340152852237,
                    "z": 0.05880360305309296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019807815551758,
                "transform": {
                    "location": {
                        "x": -1564.2474365234375,
                        "y": 5751.4365234375,
                        "z": 376.16363525390625
                    },
                    "rotation": {
                        "roll": 0.00016749366477597505,
                        "pitch": 0.15658891201019287,
                        "yaw": -90.145263671875
                    }
                },
                "velocity": {
                    "x": -0.020334387198090553,
                    "y": -8.019753456115723,
                    "z": 0.02164587937295437
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.679269552230835,
                "transform": {
                    "location": {
                        "x": -1567.259521484375,
                        "y": 5724.93603515625,
                        "z": 376.2388610839844
                    },
                    "rotation": {
                        "roll": -0.0012207073159515858,
                        "pitch": -0.15542776882648468,
                        "yaw": 89.75582885742188
                    }
                },
                "velocity": {
                    "x": 0.0042808521538972855,
                    "y": 1.6792597770690918,
                    "z": -0.0038026045076549053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.275091648101807,
                "transform": {
                    "location": {
                        "x": -1567.22314453125,
                        "y": 5739.38916015625,
                        "z": 376.1949462890625
                    },
                    "rotation": {
                        "roll": 0.004921498708426952,
                        "pitch": 0.13816788792610168,
                        "yaw": 89.86721801757812
                    }
                },
                "velocity": {
                    "x": 0.008962762542068958,
                    "y": 5.27506685256958,
                    "z": -0.013438139110803604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4673227071762085,
        "expert_target_speed": 6.124566935891949,
        "target_point": [
            31.417347790817573,
            1.4524763610468827
        ],
        "target_point_next": [
            43.6483565217112,
            1.8610151345575754
        ]
    },
    "150": {
        "acceleration": [
            -0.2669370174407959,
            -0.5802440643310547,
            0.09290075302124023
        ],
        "angular_velocity": [
            -0.3669950067996979,
            0.18573294579982758,
            0.60270756483078
        ],
        "forward_vector": [
            0.03753279894590378,
            0.9992930889129639,
            -0.002151845023036003
        ],
        "right_vector": [
            -0.9992954134941101,
            0.037532586604356766,
            -0.0001378655288135633
        ],
        "location": [
            -1566.6402587890625,
            5755.5244140625,
            376.1529846191406
        ],
        "rotation": [
            0.007899131625890732,
            -0.1232917383313179,
            87.8490219116211
        ],
        "velocity": [
            0.1847255825996399,
            4.981025695800781,
            -0.013624810613691807
        ],
        "speed": 4.984449871660305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.803712844848633,
                "transform": {
                    "location": {
                        "x": -1503.477294921875,
                        "y": 5781.16650390625,
                        "z": 375.74139404296875
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -0.19155263900756836,
                        "yaw": 156.43209838867188
                    }
                },
                "velocity": {
                    "x": -4.401443004608154,
                    "y": 1.9212090969085693,
                    "z": -0.10913871228694916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04606503248214722,
                "transform": {
                    "location": {
                        "x": -1585.4599609375,
                        "y": 5816.93408203125,
                        "z": 376.1188049316406
                    },
                    "rotation": {
                        "roll": -0.0007324200123548508,
                        "pitch": 0.2837192118167877,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 0.00014683380140922964,
                    "y": -0.0002560146094765514,
                    "z": 0.04606408625841141
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02358379401266575,
                "transform": {
                    "location": {
                        "x": -1552.81201171875,
                        "y": 5802.6904296875,
                        "z": 375.9784240722656
                    },
                    "rotation": {
                        "roll": 0.0011043512495234609,
                        "pitch": 0.2999340891838074,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 0.0001847695530159399,
                    "y": 8.075113873928785e-05,
                    "z": 0.023582931607961655
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04569775238633156,
                "transform": {
                    "location": {
                        "x": -1519.8157958984375,
                        "y": 5788.294921875,
                        "z": 375.7590637207031
                    },
                    "rotation": {
                        "roll": 0.00028242208645679057,
                        "pitch": 0.2694646120071411,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 0.00034300191327929497,
                    "y": 0.00013919862976763397,
                    "z": 0.04569625109434128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.466597557067871,
                "transform": {
                    "location": {
                        "x": -1564.2296142578125,
                        "y": 5797.60595703125,
                        "z": 376.0594787597656
                    },
                    "rotation": {
                        "roll": 0.009967293590307236,
                        "pitch": -0.05901966243982315,
                        "yaw": -90.06671142578125
                    }
                },
                "velocity": {
                    "x": 0.034279029816389084,
                    "y": -2.466355562210083,
                    "z": 0.0044074151664972305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034326553344727,
                "transform": {
                    "location": {
                        "x": -1564.2523193359375,
                        "y": 5749.4306640625,
                        "z": 376.1689453125
                    },
                    "rotation": {
                        "roll": 0.0013339195866137743,
                        "pitch": 0.15660256147384644,
                        "yaw": -90.1431884765625
                    }
                },
                "velocity": {
                    "x": -0.02122197113931179,
                    "y": -8.034269332885742,
                    "z": 0.021823177114129066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.207296133041382,
                "transform": {
                    "location": {
                        "x": -1567.2579345703125,
                        "y": 5725.47119140625,
                        "z": 376.2375183105469
                    },
                    "rotation": {
                        "roll": 0.0009334257338196039,
                        "pitch": -0.08572570234537125,
                        "yaw": 89.72935485839844
                    }
                },
                "velocity": {
                    "x": 0.007389746606349945,
                    "y": 2.2072761058807373,
                    "z": -0.005775460973381996
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005772472824901342,
                "transform": {
                    "location": {
                        "x": -1567.2216796875,
                        "y": 5739.94482421875,
                        "z": 376.19921875
                    },
                    "rotation": {
                        "roll": 0.00431603891775012,
                        "pitch": -1.4804980754852295,
                        "yaw": 89.8860092163086
                    }
                },
                "velocity": {
                    "x": 0.0006256445194594562,
                    "y": 0.005514705087989569,
                    "z": -0.0015868331538513303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.527677595615387,
        "expert_target_speed": 6.059968297189965,
        "target_point": [
            30.161960369157264,
            1.5068871487162174
        ],
        "target_point_next": [
            42.39225786430885,
            1.9361908695789176
        ]
    },
    "155": {
        "acceleration": [
            -0.26093974709510803,
            -1.7908191680908203,
            0.014525800943374634
        ],
        "angular_velocity": [
            -0.5286058783531189,
            0.09574242681264877,
            1.7422579526901245
        ],
        "forward_vector": [
            0.03168145567178726,
            0.9994910359382629,
            -0.0037310034967958927
        ],
        "right_vector": [
            -0.9994974732398987,
            0.031685031950473785,
            0.0009038703865371644
        ],
        "location": [
            -1566.6043701171875,
            5756.74560546875,
            376.1497497558594
        ],
        "rotation": [
            -0.0517883263528347,
            -0.213771253824234,
            88.1844711303711
        ],
        "velocity": [
            0.1073535606265068,
            4.7060346603393555,
            -0.0126208970323205
        ],
        "speed": 4.707258970068945,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.016400353983044624,
                "transform": {
                    "location": {
                        "x": -1503.844970703125,
                        "y": 5781.3271484375,
                        "z": 375.7315673828125
                    },
                    "rotation": {
                        "roll": -0.0005493102944456041,
                        "pitch": -0.2897639274597168,
                        "yaw": 156.43551635742188
                    }
                },
                "velocity": {
                    "x": 0.0021250538993626833,
                    "y": -0.0009358609095215797,
                    "z": -0.016235144808888435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7928057909011841,
                "transform": {
                    "location": {
                        "x": -1585.494140625,
                        "y": 5816.94921875,
                        "z": 376.1273498535156
                    },
                    "rotation": {
                        "roll": 0.0007059858762659132,
                        "pitch": 0.37552377581596375,
                        "yaw": 156.43167114257812
                    }
                },
                "velocity": {
                    "x": -0.7264936566352844,
                    "y": 0.31670427322387695,
                    "z": 0.021125687286257744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.578332781791687,
                "transform": {
                    "location": {
                        "x": -1552.8360595703125,
                        "y": 5802.701171875,
                        "z": 375.9826354980469
                    },
                    "rotation": {
                        "roll": 0.0003728122101165354,
                        "pitch": 0.34174850583076477,
                        "yaw": 156.42848205566406
                    }
                },
                "velocity": {
                    "x": -0.5299593806266785,
                    "y": 0.23117150366306305,
                    "z": 0.013097991235554218
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7592318654060364,
                "transform": {
                    "location": {
                        "x": -1519.8487548828125,
                        "y": 5788.30908203125,
                        "z": 375.767578125
                    },
                    "rotation": {
                        "roll": -0.0009460463770665228,
                        "pitch": 0.3586600422859192,
                        "yaw": 156.4443359375
                    }
                },
                "velocity": {
                    "x": -0.6963165998458862,
                    "y": 0.301923543214798,
                    "z": 0.020453747361898422
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5704092979431152,
                "transform": {
                    "location": {
                        "x": -1564.22119140625,
                        "y": 5796.84423828125,
                        "z": 376.0602111816406
                    },
                    "rotation": {
                        "roll": 0.0036982945166528225,
                        "pitch": 0.0037292831111699343,
                        "yaw": -89.79220581054688
                    }
                },
                "velocity": {
                    "x": 0.050637148320674896,
                    "y": -3.570044755935669,
                    "z": 0.006240491755306721
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019271850585938,
                "transform": {
                    "location": {
                        "x": -1564.2572021484375,
                        "y": 5747.4248046875,
                        "z": 376.17425537109375
                    },
                    "rotation": {
                        "roll": 0.0004086122498847544,
                        "pitch": 0.1570192128419876,
                        "yaw": -90.1454086303711
                    }
                },
                "velocity": {
                    "x": -0.02036045491695404,
                    "y": -8.019218444824219,
                    "z": 0.02103203721344471
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3827287554740906,
                "transform": {
                    "location": {
                        "x": -1567.2569580078125,
                        "y": 5725.70947265625,
                        "z": 376.2364807128906
                    },
                    "rotation": {
                        "roll": 0.0025181828532367945,
                        "pitch": -0.38827574253082275,
                        "yaw": 89.62152862548828
                    }
                },
                "velocity": {
                    "x": 0.0010674380464479327,
                    "y": 0.38272303342819214,
                    "z": -0.0017985915765166283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8605579733848572,
                "transform": {
                    "location": {
                        "x": -1567.2215576171875,
                        "y": 5740.10302734375,
                        "z": 376.1954345703125
                    },
                    "rotation": {
                        "roll": 0.002786473836749792,
                        "pitch": -0.6079687476158142,
                        "yaw": 89.9048843383789
                    }
                },
                "velocity": {
                    "x": 0.001537205884233117,
                    "y": 0.8605548143386841,
                    "z": -0.0017470454331487417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5425004959106445,
        "expert_target_speed": 5.803200913311754,
        "target_point": [
            28.948552133885105,
            1.3274164104998976
        ],
        "target_point_next": [
            41.18115392595914,
            1.6850921032787407
        ]
    },
    "160": {
        "acceleration": [
            -0.18107041716575623,
            -1.1994457244873047,
            0.011057853698730469
        ],
        "angular_velocity": [
            -0.05920969322323799,
            -0.028469454497098923,
            2.0670292377471924
        ],
        "forward_vector": [
            0.02302934229373932,
            0.9997222423553467,
            -0.004999258555471897
        ],
        "right_vector": [
            -0.9997340440750122,
            0.02303503081202507,
            0.0010828273370862007
        ],
        "location": [
            -1566.583984375,
            5757.86962890625,
            376.1470947265625
        ],
        "rotation": [
            -0.062042221426963806,
            -0.28643763065338135,
            88.68038177490234
        ],
        "velocity": [
            0.04898987337946892,
            4.337647438049316,
            -0.01089535653591156
        ],
        "speed": 4.337924077771479,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.002886053640395403,
                "transform": {
                    "location": {
                        "x": -1503.84716796875,
                        "y": 5781.328125,
                        "z": 375.726318359375
                    },
                    "rotation": {
                        "roll": 0.0003682207316160202,
                        "pitch": 0.12318245321512222,
                        "yaw": 156.4354705810547
                    }
                },
                "velocity": {
                    "x": 0.0010208114981651306,
                    "y": -0.0005309288972057402,
                    "z": -0.002646764973178506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9627094268798828,
                "transform": {
                    "location": {
                        "x": -1585.828369140625,
                        "y": 5817.0947265625,
                        "z": 376.13116455078125
                    },
                    "rotation": {
                        "roll": -0.0003662069793790579,
                        "pitch": 0.45362699031829834,
                        "yaw": 156.45339965820312
                    }
                },
                "velocity": {
                    "x": -1.7990747690200806,
                    "y": 0.7844633460044861,
                    "z": 0.013245048001408577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7048629522323608,
                "transform": {
                    "location": {
                        "x": -1553.1165771484375,
                        "y": 5802.82373046875,
                        "z": 375.98486328125
                    },
                    "rotation": {
                        "roll": 0.0005512381321750581,
                        "pitch": 0.4066148102283478,
                        "yaw": 156.40052795410156
                    }
                },
                "velocity": {
                    "x": -1.5624291896820068,
                    "y": 0.6821066737174988,
                    "z": 0.01015673577785492
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9421614408493042,
                "transform": {
                    "location": {
                        "x": -1520.1837158203125,
                        "y": 5788.45556640625,
                        "z": 375.7712707519531
                    },
                    "rotation": {
                        "roll": 0.001468573696911335,
                        "pitch": 0.43864837288856506,
                        "yaw": 156.4292755126953
                    }
                },
                "velocity": {
                    "x": -1.7801012992858887,
                    "y": 0.7765626311302185,
                    "z": 0.013457546010613441
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.697386741638184,
                "transform": {
                    "location": {
                        "x": -1564.21435546875,
                        "y": 5795.8037109375,
                        "z": 376.0623779296875
                    },
                    "rotation": {
                        "roll": -0.0023193361703306437,
                        "pitch": 0.021125774830579758,
                        "yaw": -89.71963500976562
                    }
                },
                "velocity": {
                    "x": 0.027301762253046036,
                    "y": -4.697296619415283,
                    "z": 0.010028180666267872
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034209251403809,
                "transform": {
                    "location": {
                        "x": -1564.26220703125,
                        "y": 5745.41845703125,
                        "z": 376.1795959472656
                    },
                    "rotation": {
                        "roll": 0.00013942577061243355,
                        "pitch": 0.15921853482723236,
                        "yaw": -90.1454086303711
                    }
                },
                "velocity": {
                    "x": -0.02043331414461136,
                    "y": -8.034154891967773,
                    "z": 0.021253280341625214
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3759058713912964,
                "transform": {
                    "location": {
                        "x": -1567.256103515625,
                        "y": 5725.93359375,
                        "z": 376.2361145019531
                    },
                    "rotation": {
                        "roll": -0.0016784643521532416,
                        "pitch": -0.09329354763031006,
                        "yaw": 89.6823959350586
                    }
                },
                "velocity": {
                    "x": 0.0034382459707558155,
                    "y": 1.375899076461792,
                    "z": -0.00263214111328125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3397798538208008,
                "transform": {
                    "location": {
                        "x": -1567.22119140625,
                        "y": 5740.361328125,
                        "z": 376.193115234375
                    },
                    "rotation": {
                        "roll": 0.0005899072275497019,
                        "pitch": -0.18306955695152283,
                        "yaw": 89.90558624267578
                    }
                },
                "velocity": {
                    "x": 0.0017705238424241543,
                    "y": 1.339776873588562,
                    "z": -0.0022311971988528967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5142003893852234,
        "expert_target_speed": 5.457047971356214,
        "target_point": [
            27.83476154087147,
            1.0713210902631327
        ],
        "target_point_next": [
            40.070000772051415,
            1.323113585093861
        ]
    },
    "165": {
        "acceleration": [
            -0.1421959549188614,
            -0.8256816864013672,
            -0.004546735435724258
        ],
        "angular_velocity": [
            0.11754569411277771,
            0.002811482409015298,
            1.5633090734481812
        ],
        "forward_vector": [
            0.014516230672597885,
            0.9998831748962402,
            -0.00477979751303792
        ],
        "right_vector": [
            -0.9998940825462341,
            0.014520992524921894,
            0.0009629873093217611
        ],
        "location": [
            -1566.5750732421875,
            5758.9208984375,
            376.1444091796875
        ],
        "rotation": [
            -0.055175747722387314,
            -0.2738632559776306,
            89.16824340820312
        ],
        "velocity": [
            0.010659107007086277,
            4.096354961395264,
            -0.009969234466552734
        ],
        "speed": 4.096368829379232,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.517608106136322,
                "transform": {
                    "location": {
                        "x": -1503.8668212890625,
                        "y": 5781.3369140625,
                        "z": 375.7250061035156
                    },
                    "rotation": {
                        "roll": -0.00021362246479839087,
                        "pitch": 0.26634320616722107,
                        "yaw": 156.4351348876953
                    }
                },
                "velocity": {
                    "x": -0.4744359850883484,
                    "y": 0.20694661140441895,
                    "z": 0.0013259887928143144
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.383880853652954,
                "transform": {
                    "location": {
                        "x": -1586.431396484375,
                        "y": 5817.35791015625,
                        "z": 376.1347961425781
                    },
                    "rotation": {
                        "roll": 0.0007545107509940863,
                        "pitch": 0.49669817090034485,
                        "yaw": 156.44625854492188
                    }
                },
                "velocity": {
                    "x": -3.1013762950897217,
                    "y": 1.3534448146820068,
                    "z": 0.017397422343492508
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.743643283843994,
                "transform": {
                    "location": {
                        "x": -1553.62109375,
                        "y": 5803.04345703125,
                        "z": 375.9877624511719
                    },
                    "rotation": {
                        "roll": -0.00024413886421825737,
                        "pitch": 0.411996990442276,
                        "yaw": 156.40158081054688
                    }
                },
                "velocity": {
                    "x": -2.5141351222991943,
                    "y": 1.0984158515930176,
                    "z": 0.013601665385067463
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.385446786880493,
                "transform": {
                    "location": {
                        "x": -1520.7886962890625,
                        "y": 5788.71923828125,
                        "z": 375.77484130859375
                    },
                    "rotation": {
                        "roll": 1.1679770977934822e-05,
                        "pitch": 0.4835227131843567,
                        "yaw": 156.4304962158203
                    }
                },
                "velocity": {
                    "x": -3.102980613708496,
                    "y": 1.3536970615386963,
                    "z": 0.016294850036501884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.235293388366699,
                "transform": {
                    "location": {
                        "x": -1564.20703125,
                        "y": 5794.52197265625,
                        "z": 376.0652160644531
                    },
                    "rotation": {
                        "roll": 0.0001408027164870873,
                        "pitch": 0.06950400024652481,
                        "yaw": -89.68966674804688
                    }
                },
                "velocity": {
                    "x": 0.02937629446387291,
                    "y": -5.235194206237793,
                    "z": 0.013290032744407654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019265174865723,
                "transform": {
                    "location": {
                        "x": -1564.2669677734375,
                        "y": 5743.4130859375,
                        "z": 376.18499755859375
                    },
                    "rotation": {
                        "roll": -9.155423322226852e-05,
                        "pitch": 0.1589316576719284,
                        "yaw": -90.14533233642578
                    }
                },
                "velocity": {
                    "x": -0.020328737795352936,
                    "y": -8.019209861755371,
                    "z": 0.021774310618638992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2918567657470703,
                "transform": {
                    "location": {
                        "x": -1567.2552490234375,
                        "y": 5726.3955078125,
                        "z": 376.2350158691406
                    },
                    "rotation": {
                        "roll": -0.003387450473383069,
                        "pitch": -0.02804475463926792,
                        "yaw": 89.84249114990234
                    }
                },
                "velocity": {
                    "x": 0.004202828276902437,
                    "y": 2.291841506958008,
                    "z": -0.007250461261719465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1512672901153564,
                "transform": {
                    "location": {
                        "x": -1567.2203369140625,
                        "y": 5740.7958984375,
                        "z": 376.191162109375
                    },
                    "rotation": {
                        "roll": 0.0003388483601156622,
                        "pitch": 0.07461298257112503,
                        "yaw": 89.88491821289062
                    }
                },
                "velocity": {
                    "x": 0.0037150948774069548,
                    "y": 2.1512563228607178,
                    "z": -0.005756712052971125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5217106938362122,
        "expert_target_speed": 5.2280852848506525,
        "target_point": [
            26.791587807257713,
            0.827881942308202
        ],
        "target_point_next": [
            39.02852769769305,
            0.9754645379287883
        ]
    },
    "170": {
        "acceleration": [
            -0.074399434030056,
            -0.7358312606811523,
            -0.0007328018546104431
        ],
        "angular_velocity": [
            0.07638518512248993,
            -0.025852877646684647,
            1.6962146759033203
        ],
        "forward_vector": [
            0.008078362792730331,
            0.9999573826789856,
            -0.004471883177757263
        ],
        "right_vector": [
            -0.9999672174453735,
            0.008080914616584778,
            0.0005528665496967733
        ],
        "location": [
            -1566.572021484375,
            5759.91748046875,
            376.1418151855469
        ],
        "rotation": [
            -0.0316772386431694,
            -0.25622087717056274,
            89.5371322631836
        ],
        "velocity": [
            -0.0009315120405517519,
            3.881669282913208,
            -0.00991600938141346
        ],
        "speed": 3.881669394684022,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4979170560836792,
                "transform": {
                    "location": {
                        "x": -1504.1212158203125,
                        "y": 5781.447265625,
                        "z": 375.7256164550781
                    },
                    "rotation": {
                        "roll": -0.00021362739789765328,
                        "pitch": 0.3465091288089752,
                        "yaw": 156.4267578125
                    }
                },
                "velocity": {
                    "x": -1.372989296913147,
                    "y": 0.5988454818725586,
                    "z": 0.006317109800875187
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.875391006469727,
                "transform": {
                    "location": {
                        "x": -1587.3914794921875,
                        "y": 5817.77685546875,
                        "z": 376.1400451660156
                    },
                    "rotation": {
                        "roll": -0.0001220812846440822,
                        "pitch": 0.5183430314064026,
                        "yaw": 156.44798278808594
                    }
                },
                "velocity": {
                    "x": -4.469158172607422,
                    "y": 1.9482052326202393,
                    "z": 0.023605728521943092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1551523208618164,
                "transform": {
                    "location": {
                        "x": -1554.3544921875,
                        "y": 5803.3642578125,
                        "z": 375.99237060546875
                    },
                    "rotation": {
                        "roll": 0.0008762764628045261,
                        "pitch": 0.36717045307159424,
                        "yaw": 156.41294860839844
                    }
                },
                "velocity": {
                    "x": -2.8914620876312256,
                    "y": 1.2626004219055176,
                    "z": 0.01652710884809494
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.869583606719971,
                "transform": {
                    "location": {
                        "x": -1521.7479248046875,
                        "y": 5789.13818359375,
                        "z": 375.7798767089844
                    },
                    "rotation": {
                        "roll": 0.000624112959485501,
                        "pitch": 0.5069707632064819,
                        "yaw": 156.43087768554688
                    }
                },
                "velocity": {
                    "x": -4.46332311630249,
                    "y": 1.947079062461853,
                    "z": 0.02183883637189865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.878368854522705,
                "transform": {
                    "location": {
                        "x": -1564.198974609375,
                        "y": 5793.1162109375,
                        "z": 376.0685119628906
                    },
                    "rotation": {
                        "roll": 0.00183104258030653,
                        "pitch": 0.07958535850048065,
                        "yaw": -89.63817596435547
                    }
                },
                "velocity": {
                    "x": 0.03521702066063881,
                    "y": -5.878246307373047,
                    "z": 0.014229316264390945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034211158752441,
                "transform": {
                    "location": {
                        "x": -1564.2718505859375,
                        "y": 5741.4072265625,
                        "z": 376.1904296875
                    },
                    "rotation": {
                        "roll": 0.00027254829183220863,
                        "pitch": 0.16085094213485718,
                        "yaw": -90.14531707763672
                    }
                },
                "velocity": {
                    "x": -0.020390750840306282,
                    "y": -8.034156799316406,
                    "z": 0.021440181881189346
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00525297038257122,
                "transform": {
                    "location": {
                        "x": -1567.254638671875,
                        "y": 5726.8134765625,
                        "z": 376.2333984375
                    },
                    "rotation": {
                        "roll": -0.005126921460032463,
                        "pitch": -0.4095722734928131,
                        "yaw": 90.026611328125
                    }
                },
                "velocity": {
                    "x": 0.000413526693591848,
                    "y": 0.005204635672271252,
                    "z": -0.0005783260567113757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.839683771133423,
                "transform": {
                    "location": {
                        "x": -1567.2193603515625,
                        "y": 5741.45166015625,
                        "z": 376.1889343261719
                    },
                    "rotation": {
                        "roll": 0.0007768370560370386,
                        "pitch": 0.16346007585525513,
                        "yaw": 89.88507080078125
                    }
                },
                "velocity": {
                    "x": 0.005646830890327692,
                    "y": 2.839670419692993,
                    "z": -0.006606673821806908
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5057671070098877,
        "expert_target_speed": 5.02309118913365,
        "target_point": [
            25.799783783531737,
            0.6505633866178601
        ],
        "target_point_next": [
            38.03741973282981,
            0.7194464549663782
        ]
    },
    "175": {
        "acceleration": [
            0.001004394143819809,
            0.40625572204589844,
            0.012499988079071045
        ],
        "angular_velocity": [
            0.3330850601196289,
            -0.034023936837911606,
            0.5650393962860107
        ],
        "forward_vector": [
            0.003078513080254197,
            0.9999893307685852,
            -0.0034434725530445576
        ],
        "right_vector": [
            -0.9999951124191284,
            0.003080034628510475,
            0.00043675603228621185
        ],
        "location": [
            -1566.5731201171875,
            5760.88232421875,
            376.13916015625
        ],
        "rotation": [
            -0.025024425238370895,
            -0.19729682803153992,
            89.82361602783203
        ],
        "velocity": [
            -0.013810310512781143,
            3.8818962574005127,
            -0.009390306659042835
        ],
        "speed": 3.8819208232390015,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.4875128269195557,
                "transform": {
                    "location": {
                        "x": -1504.5767822265625,
                        "y": 5781.64599609375,
                        "z": 375.7276916503906
                    },
                    "rotation": {
                        "roll": 0.0007121746311895549,
                        "pitch": 0.36061346530914307,
                        "yaw": 156.403564453125
                    }
                },
                "velocity": {
                    "x": -2.279926300048828,
                    "y": 0.9947625994682312,
                    "z": 0.010182933881878853
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.839651584625244,
                "transform": {
                    "location": {
                        "x": -1588.623046875,
                        "y": 5818.314453125,
                        "z": 376.14678955078125
                    },
                    "rotation": {
                        "roll": -0.0001220733392983675,
                        "pitch": 0.44779402017593384,
                        "yaw": 156.42599487304688
                    }
                },
                "velocity": {
                    "x": -5.351968765258789,
                    "y": 2.336069345474243,
                    "z": 0.027205972000956535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5915799140930176,
                "transform": {
                    "location": {
                        "x": -1554.99169921875,
                        "y": 5803.6416015625,
                        "z": 375.9969482421875
                    },
                    "rotation": {
                        "roll": -0.0017700218595564365,
                        "pitch": 0.26634320616722107,
                        "yaw": 156.4113311767578
                    }
                },
                "velocity": {
                    "x": -2.374941825866699,
                    "y": 1.0371906757354736,
                    "z": 0.013165215961635113
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.77266263961792,
                "transform": {
                    "location": {
                        "x": -1522.9840087890625,
                        "y": 5789.67724609375,
                        "z": 375.7864685058594
                    },
                    "rotation": {
                        "roll": 0.001680790912359953,
                        "pitch": 0.44568347930908203,
                        "yaw": 156.39450073242188
                    }
                },
                "velocity": {
                    "x": -5.290184020996094,
                    "y": 2.3101837635040283,
                    "z": 0.02514365129172802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.449951648712158,
                "transform": {
                    "location": {
                        "x": -1564.189208984375,
                        "y": 5791.48193359375,
                        "z": 376.0731201171875
                    },
                    "rotation": {
                        "roll": 0.0009203004301525652,
                        "pitch": -0.011201509274542332,
                        "yaw": -89.64688110351562
                    }
                },
                "velocity": {
                    "x": 0.04425245523452759,
                    "y": -7.449799060821533,
                    "z": 0.01767711527645588
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019401550292969,
                "transform": {
                    "location": {
                        "x": -1564.27685546875,
                        "y": 5739.40087890625,
                        "z": 376.1958923339844
                    },
                    "rotation": {
                        "roll": 0.0002466014993842691,
                        "pitch": 0.16136321425437927,
                        "yaw": -90.14535522460938
                    }
                },
                "velocity": {
                    "x": -0.02035730518400669,
                    "y": -8.019347190856934,
                    "z": 0.021621303632855415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9391688704490662,
                "transform": {
                    "location": {
                        "x": -1567.254638671875,
                        "y": 5726.9248046875,
                        "z": 376.23333740234375
                    },
                    "rotation": {
                        "roll": -0.0005493186763487756,
                        "pitch": -0.15704652667045593,
                        "yaw": 90.10804748535156
                    }
                },
                "velocity": {
                    "x": 0.0003533866838552058,
                    "y": 0.9391672015190125,
                    "z": -0.0017489814199507236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.601865768432617,
                "transform": {
                    "location": {
                        "x": -1567.21826171875,
                        "y": 5742.1328125,
                        "z": 376.1880798339844
                    },
                    "rotation": {
                        "roll": 0.0017847088165581226,
                        "pitch": -0.08471482992172241,
                        "yaw": 89.88485717773438
                    }
                },
                "velocity": {
                    "x": 0.005235512740910053,
                    "y": 2.601853370666504,
                    "z": -0.006118612363934517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4867950975894928,
        "expert_target_speed": 5.022785064065962,
        "target_point": [
            24.83787540862131,
            0.5176233610374895
        ],
        "target_point_next": [
            37.07570275835648,
            0.5253862684551052
        ]
    },
    "180": {
        "acceleration": [
            0.02446870319545269,
            0.9834098815917969,
            0.0017360784113407135
        ],
        "angular_velocity": [
            0.3056982159614563,
            -0.025819526985287666,
            0.2887992858886719
        ],
        "forward_vector": [
            0.001830410328693688,
            0.9999963641166687,
            -0.0019813762046396732
        ],
        "right_vector": [
            -0.9999983310699463,
            0.0018301709787920117,
            -0.00012261139636393636
        ],
        "location": [
            -1566.5726318359375,
            5761.8759765625,
            376.13629150390625
        ],
        "rotation": [
            0.007025130093097687,
            -0.11352457106113434,
            89.89512634277344
        ],
        "velocity": [
            0.0074617634527385235,
            4.0774335861206055,
            -0.010257987305521965
        ],
        "speed": 4.07744041368334,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.84739089012146,
                "transform": {
                    "location": {
                        "x": -1505.3062744140625,
                        "y": 5781.96435546875,
                        "z": 375.73089599609375
                    },
                    "rotation": {
                        "roll": -0.0007934547611512244,
                        "pitch": 0.3957957923412323,
                        "yaw": 156.40867614746094
                    }
                },
                "velocity": {
                    "x": -3.5258116722106934,
                    "y": 1.539715051651001,
                    "z": 0.01859212853014469
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.884588241577148,
                "transform": {
                    "location": {
                        "x": -1590.0162353515625,
                        "y": 5818.921875,
                        "z": 376.1541748046875
                    },
                    "rotation": {
                        "roll": 0.0004538352368399501,
                        "pitch": 0.4587906002998352,
                        "yaw": 156.41603088378906
                    }
                },
                "velocity": {
                    "x": -6.30985689163208,
                    "y": 2.7535643577575684,
                    "z": 0.0338934026658535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.05521559715271,
                "transform": {
                    "location": {
                        "x": -1555.636474609375,
                        "y": 5803.923828125,
                        "z": 376.0001220703125
                    },
                    "rotation": {
                        "roll": -0.004211426246911287,
                        "pitch": 0.3259229362010956,
                        "yaw": 156.41920471191406
                    }
                },
                "velocity": {
                    "x": -2.7999773025512695,
                    "y": 1.222395658493042,
                    "z": 0.01476475689560175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.867273330688477,
                "transform": {
                    "location": {
                        "x": -1524.3719482421875,
                        "y": 5790.28369140625,
                        "z": 375.7935791015625
                    },
                    "rotation": {
                        "roll": -6.1033373640384525e-05,
                        "pitch": 0.4525478184223175,
                        "yaw": 156.4110870361328
                    }
                },
                "velocity": {
                    "x": -6.293859958648682,
                    "y": 2.746950626373291,
                    "z": 0.03208158537745476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.239027976989746,
                "transform": {
                    "location": {
                        "x": -1564.183349609375,
                        "y": 5789.4931640625,
                        "z": 376.07757568359375
                    },
                    "rotation": {
                        "roll": -0.004302978049963713,
                        "pitch": 0.03386407718062401,
                        "yaw": -89.81646728515625
                    }
                },
                "velocity": {
                    "x": 0.012244357727468014,
                    "y": -8.238997459411621,
                    "z": 0.018565701320767403
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034398078918457,
                "transform": {
                    "location": {
                        "x": -1564.2818603515625,
                        "y": 5737.39501953125,
                        "z": 376.20135498046875
                    },
                    "rotation": {
                        "roll": 6.835551903350279e-05,
                        "pitch": 0.16124026477336884,
                        "yaw": -90.14757537841797
                    }
                },
                "velocity": {
                    "x": -0.020725075155496597,
                    "y": -8.034342765808105,
                    "z": 0.02160736918449402
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9408068656921387,
                "transform": {
                    "location": {
                        "x": -1567.254638671875,
                        "y": 5727.29296875,
                        "z": 376.2325439453125
                    },
                    "rotation": {
                        "roll": 0.00028077149181626737,
                        "pitch": -0.032101888209581375,
                        "yaw": 90.08707427978516
                    }
                },
                "velocity": {
                    "x": 0.00187021610327065,
                    "y": 1.940798282623291,
                    "z": -0.005459155887365341
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.337811231613159,
                "transform": {
                    "location": {
                        "x": -1567.21728515625,
                        "y": 5742.728515625,
                        "z": 376.18701171875
                    },
                    "rotation": {
                        "roll": 0.000573593657463789,
                        "pitch": -0.22790974378585815,
                        "yaw": 89.88359069824219
                    }
                },
                "velocity": {
                    "x": 0.004807834979146719,
                    "y": 2.337798595428467,
                    "z": -0.005984325427561998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.48611709475517273,
        "expert_target_speed": 5.2083563458742566,
        "target_point": [
            23.84485692024424,
            0.4849695415736794
        ],
        "target_point_next": [
            36.082684327394176,
            0.4772976795006711
        ]
    },
    "185": {
        "acceleration": [
            0.002233404666185379,
            1.1370277404785156,
            0.011863317340612411
        ],
        "angular_velocity": [
            0.1544390767812729,
            0.017376264557242393,
            -0.20971088111400604
        ],
        "forward_vector": [
            0.001979901222512126,
            0.9999975562095642,
            -0.0009832379873842
        ],
        "right_vector": [
            -0.9999980330467224,
            0.001979826483875513,
            -7.688943151151761e-05
        ],
        "location": [
            -1566.57080078125,
            5762.93115234375,
            376.13336181640625
        ],
        "rotation": [
            0.004405442159622908,
            -0.05633539706468582,
            89.88655853271484
        ],
        "velocity": [
            0.00931135006248951,
            4.35284423828125,
            -0.009600324556231499
        ],
        "speed": 4.352854197417858,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 77.33338165283203,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1650.027587890625,
                        "y": 5844.953125,
                        "z": 376.61151123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2077333629131317,
                        "yaw": 165.00465393066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3411865234375,
                        "y": 5837.8642578125,
                        "z": 376.52081298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.153748035430908,
                "transform": {
                    "location": {
                        "x": -1506.3443603515625,
                        "y": 5782.41796875,
                        "z": 375.736083984375
                    },
                    "rotation": {
                        "roll": -0.0019226124277338386,
                        "pitch": 0.40363001823425293,
                        "yaw": 156.4119873046875
                    }
                },
                "velocity": {
                    "x": -4.723644733428955,
                    "y": 2.0609500408172607,
                    "z": 0.027990197762846947
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.3446683883667,
                "transform": {
                    "location": {
                        "x": -1591.7999267578125,
                        "y": 5819.70068359375,
                        "z": 376.16363525390625
                    },
                    "rotation": {
                        "roll": -0.0010986351408064365,
                        "pitch": 0.5013836622238159,
                        "yaw": 156.42855834960938
                    }
                },
                "velocity": {
                    "x": -7.6481475830078125,
                    "y": 3.337324380874634,
                    "z": 0.03992202505469322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.200529098510742,
                "transform": {
                    "location": {
                        "x": -1556.462646484375,
                        "y": 5804.28369140625,
                        "z": 376.0040588378906
                    },
                    "rotation": {
                        "roll": -0.0045776451006531715,
                        "pitch": 0.3996889889240265,
                        "yaw": 156.4193878173828
                    }
                },
                "velocity": {
                    "x": -3.8502397537231445,
                    "y": 1.6791666746139526,
                    "z": 0.02230689860880375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.392815589904785,
                "transform": {
                    "location": {
                        "x": -1526.1539306640625,
                        "y": 5791.06103515625,
                        "z": 375.8029479980469
                    },
                    "rotation": {
                        "roll": 0.0003091580292675644,
                        "pitch": 0.503473699092865,
                        "yaw": 156.39337158203125
                    }
                },
                "velocity": {
                    "x": -7.691289901733398,
                    "y": 3.3588452339172363,
                    "z": 0.03952031955122948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041803359985352,
                "transform": {
                    "location": {
                        "x": -1564.1798095703125,
                        "y": 5787.44873046875,
                        "z": 376.08160400390625
                    },
                    "rotation": {
                        "roll": 0.00017588456103112549,
                        "pitch": 0.1412346512079239,
                        "yaw": -89.89946746826172
                    }
                },
                "velocity": {
                    "x": 0.010794384405016899,
                    "y": -8.041775703430176,
                    "z": 0.018227415159344673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019547462463379,
                "transform": {
                    "location": {
                        "x": -1564.2867431640625,
                        "y": 5735.38916015625,
                        "z": 376.2068176269531
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16250385344028473,
                        "yaw": -90.14743041992188
                    }
                },
                "velocity": {
                    "x": -0.020636217668652534,
                    "y": -8.019492149353027,
                    "z": 0.021620607003569603
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.046895742416382,
                "transform": {
                    "location": {
                        "x": -1567.2540283203125,
                        "y": 5727.9228515625,
                        "z": 376.2308044433594
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.0021856604143977165,
                        "yaw": 90.06156158447266
                    }
                },
                "velocity": {
                    "x": 0.002785692224279046,
                    "y": 3.0468826293945312,
                    "z": -0.00850475300103426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2628281116485596,
                "transform": {
                    "location": {
                        "x": -1567.216064453125,
                        "y": 5743.41845703125,
                        "z": 376.18414306640625
                    },
                    "rotation": {
                        "roll": 0.0013428861275315285,
                        "pitch": 0.04088551178574562,
                        "yaw": 89.88396453857422
                    }
                },
                "velocity": {
                    "x": 0.006598662585020065,
                    "y": 3.262812376022339,
                    "z": -0.0076391506008803844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5001627206802368,
        "expert_target_speed": 5.467864878686943,
        "target_point": [
            22.78960344059065,
            0.48843723762811203
        ],
        "target_point_next": [
            35.0274318979602,
            0.48267940351777106
        ]
    },
    "190": {
        "acceleration": [
            0.005059447139501572,
            1.1552143096923828,
            0.014602839946746826
        ],
        "angular_velocity": [
            0.0729723647236824,
            0.020597044378519058,
            0.017411338165402412
        ],
        "forward_vector": [
            0.002073123352602124,
            0.9999977350234985,
            -0.0005066394223831594
        ],
        "right_vector": [
            -0.9999978542327881,
            0.0020731037948280573,
            -3.923804251826368e-05
        ],
        "location": [
            -1566.5682373046875,
            5764.05810546875,
            376.13043212890625
        ],
        "rotation": [
            0.002248174510896206,
            -0.029028302058577538,
            89.88121795654297
        ],
        "velocity": [
            0.01038063783198595,
            4.646966934204102,
            -0.009651937521994114
        ],
        "speed": 4.64697852859555,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.37223815917969,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1651.1649169921875,
                        "y": 5845.0830078125,
                        "z": 376.4463195800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2077333629131317,
                        "yaw": 174.99813842773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.349609375,
                        "y": 5835.7802734375,
                        "z": 376.51092529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.438782691955566,
                "transform": {
                    "location": {
                        "x": -1507.564697265625,
                        "y": 5782.95068359375,
                        "z": 375.7428894042969
                    },
                    "rotation": {
                        "roll": -0.0015258843777701259,
                        "pitch": 0.3224942088127136,
                        "yaw": 156.43475341796875
                    }
                },
                "velocity": {
                    "x": -4.984866142272949,
                    "y": 2.1750504970550537,
                    "z": 0.024940261617302895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.540422439575195,
                "transform": {
                    "location": {
                        "x": -1593.8526611328125,
                        "y": 5820.59619140625,
                        "z": 376.1744689941406
                    },
                    "rotation": {
                        "roll": -0.0007324232719838619,
                        "pitch": 0.479042112827301,
                        "yaw": 156.4352264404297
                    }
                },
                "velocity": {
                    "x": -8.744595527648926,
                    "y": 3.8143956661224365,
                    "z": 0.04578553885221481
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.260188579559326,
                "transform": {
                    "location": {
                        "x": -1557.5738525390625,
                        "y": 5804.7685546875,
                        "z": 376.0105895996094
                    },
                    "rotation": {
                        "roll": -0.010131842456758022,
                        "pitch": 0.42429816722869873,
                        "yaw": 156.41867065429688
                    }
                },
                "velocity": {
                    "x": -4.820833206176758,
                    "y": 2.1043620109558105,
                    "z": 0.028510311618447304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.204211235046387,
                "transform": {
                    "location": {
                        "x": -1528.19921875,
                        "y": 5791.955078125,
                        "z": 375.81365966796875
                    },
                    "rotation": {
                        "roll": 9.142986527876928e-05,
                        "pitch": 0.4418995678424835,
                        "yaw": 156.3504638671875
                    }
                },
                "velocity": {
                    "x": -8.434680938720703,
                    "y": 3.6839699745178223,
                    "z": 0.044985685497522354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.926028728485107,
                "transform": {
                    "location": {
                        "x": -1564.1783447265625,
                        "y": 5785.46484375,
                        "z": 376.0863342285156
                    },
                    "rotation": {
                        "roll": -0.003173833480104804,
                        "pitch": 0.14503222703933716,
                        "yaw": -89.96723175048828
                    }
                },
                "velocity": {
                    "x": -0.004498817026615143,
                    "y": -7.926008224487305,
                    "z": 0.01760319620370865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034639358520508,
                "transform": {
                    "location": {
                        "x": -1564.29150390625,
                        "y": 5733.3828125,
                        "z": 376.21234130859375
                    },
                    "rotation": {
                        "roll": 0.0005119260749779642,
                        "pitch": 0.16322101652622223,
                        "yaw": -90.14757537841797
                    }
                },
                "velocity": {
                    "x": -0.020646123215556145,
                    "y": -8.034582138061523,
                    "z": 0.022277630865573883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.470080614089966,
                "transform": {
                    "location": {
                        "x": -1567.2528076171875,
                        "y": 5728.8056640625,
                        "z": 376.228271484375
                    },
                    "rotation": {
                        "roll": 0.0006882053567096591,
                        "pitch": -0.06744128465652466,
                        "yaw": 89.99569702148438
                    }
                },
                "velocity": {
                    "x": 0.005090930964797735,
                    "y": 3.4700632095336914,
                    "z": -0.009771279990673065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.326810836791992,
                "transform": {
                    "location": {
                        "x": -1567.2139892578125,
                        "y": 5744.26806640625,
                        "z": 376.1820983886719
                    },
                    "rotation": {
                        "roll": 0.0016187108121812344,
                        "pitch": 0.0007444905932061374,
                        "yaw": 89.88258361816406
                    }
                },
                "velocity": {
                    "x": 0.007688190322369337,
                    "y": 3.3267877101898193,
                    "z": -0.009735059924423695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5011990666389465,
        "expert_target_speed": 5.7420308617065,
        "target_point": [
            21.662590199948358,
            0.4912963433144789
        ],
        "target_point_next": [
            33.900419246465894,
            0.486968194819504
        ]
    },
    "195": {
        "acceleration": [
            0.004612281918525696,
            1.1548042297363281,
            -0.01199379563331604
        ],
        "angular_velocity": [
            0.025958262383937836,
            0.0271297674626112,
            -0.028207778930664062
        ],
        "forward_vector": [
            0.002196147106587887,
            0.9999975562095642,
            -0.0003561973280739039
        ],
        "right_vector": [
            -0.999997615814209,
            0.0021961431484669447,
            -1.1504117537697311e-05
        ],
        "location": [
            -1566.5653076171875,
            5765.25732421875,
            376.12744140625
        ],
        "rotation": [
            0.000659137440379709,
            -0.02040860429406166,
            89.8741683959961
        ],
        "velocity": [
            0.011610721237957478,
            4.934205055236816,
            -0.012363004498183727
        ],
        "speed": 4.93421871586295,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.3546142578125,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1651.9722900390625,
                        "y": 5845.0498046875,
                        "z": 376.4361267089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25809234380722046,
                        "yaw": -175.09066772460938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3580322265625,
                        "y": 5833.697265625,
                        "z": 376.4981689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.823964595794678,
                "transform": {
                    "location": {
                        "x": -1508.903564453125,
                        "y": 5783.53466796875,
                        "z": 375.7489318847656
                    },
                    "rotation": {
                        "roll": -0.0014343179063871503,
                        "pitch": 0.37986093759536743,
                        "yaw": 156.41551208496094
                    }
                },
                "velocity": {
                    "x": -6.2553935050964355,
                    "y": 2.7268195152282715,
                    "z": 0.031603116542100906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.788451194763184,
                "transform": {
                    "location": {
                        "x": -1596.1865234375,
                        "y": 5821.6142578125,
                        "z": 376.18682861328125
                    },
                    "rotation": {
                        "roll": -0.00021362434199545532,
                        "pitch": 0.480544775724411,
                        "yaw": 156.43414306640625
                    }
                },
                "velocity": {
                    "x": -9.8884916305542,
                    "y": 4.313432216644287,
                    "z": 0.052218884229660034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.861313343048096,
                "transform": {
                    "location": {
                        "x": -1558.8135986328125,
                        "y": 5805.310546875,
                        "z": 376.0177917480469
                    },
                    "rotation": {
                        "roll": -0.0027771051973104477,
                        "pitch": 0.3763229250907898,
                        "yaw": 156.48460388183594
                    }
                },
                "velocity": {
                    "x": -5.3730034828186035,
                    "y": 2.342010259628296,
                    "z": 0.028528813272714615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.461971282958984,
                "transform": {
                    "location": {
                        "x": -1530.226318359375,
                        "y": 5792.84033203125,
                        "z": 375.8242492675781
                    },
                    "rotation": {
                        "roll": 5.187050192034803e-05,
                        "pitch": 0.23097649216651917,
                        "yaw": 156.31056213378906
                    }
                },
                "velocity": {
                    "x": -7.754981517791748,
                    "y": 3.3857882022857666,
                    "z": 0.040688514709472656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.113457679748535,
                "transform": {
                    "location": {
                        "x": -1564.1798095703125,
                        "y": 5783.4541015625,
                        "z": 376.0912780761719
                    },
                    "rotation": {
                        "roll": -0.0008545026648789644,
                        "pitch": 0.1258189082145691,
                        "yaw": -90.02655029296875
                    }
                },
                "velocity": {
                    "x": -0.007094519678503275,
                    "y": -8.113432884216309,
                    "z": 0.01851407065987587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018634796142578,
                "transform": {
                    "location": {
                        "x": -1564.2965087890625,
                        "y": 5731.37744140625,
                        "z": 376.2178955078125
                    },
                    "rotation": {
                        "roll": 0.0015511794481426477,
                        "pitch": 0.16287268698215485,
                        "yaw": -90.14745330810547
                    }
                },
                "velocity": {
                    "x": -0.02065032720565796,
                    "y": -8.01857852935791,
                    "z": 0.02172590233385563
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.157238245010376,
                "transform": {
                    "location": {
                        "x": -1567.2518310546875,
                        "y": 5729.59619140625,
                        "z": 376.2259216308594
                    },
                    "rotation": {
                        "roll": 0.0006481840391643345,
                        "pitch": -0.17846600711345673,
                        "yaw": 89.9429931640625
                    }
                },
                "velocity": {
                    "x": 0.005730508826673031,
                    "y": 3.1572201251983643,
                    "z": -0.009063320234417915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3931853771209717,
                "transform": {
                    "location": {
                        "x": -1567.212158203125,
                        "y": 5745.07275390625,
                        "z": 376.1802978515625
                    },
                    "rotation": {
                        "roll": 0.0014387917472049594,
                        "pitch": -0.11801200360059738,
                        "yaw": 89.88082122802734
                    }
                },
                "velocity": {
                    "x": 0.007133436854928732,
                    "y": 3.393162965774536,
                    "z": -0.010098380967974663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4998514652252197,
        "expert_target_speed": 6.0063953622826585,
        "target_point": [
            20.46332683930979,
            0.49341509150617185
        ],
        "target_point_next": [
            32.701156204388234,
            0.4901081470594764
        ]
    },
    "200": {
        "acceleration": [
            -0.10695631802082062,
            0.1859569549560547,
            -0.014008525758981705
        ],
        "angular_velocity": [
            -0.1418522447347641,
            0.14006686210632324,
            0.9511836171150208
        ],
        "forward_vector": [
            0.0006917273276485503,
            0.9999991655349731,
            -0.0010720487916842103
        ],
        "right_vector": [
            -0.9999997019767761,
            0.0006921079475432634,
            0.0003547327942214906
        ],
        "location": [
            -1566.564453125,
            5766.51220703125,
            376.1246337890625
        ],
        "rotation": [
            -0.0203247033059597,
            -0.0614238865673542,
            89.96036529541016
        ],
        "velocity": [
            -0.011419153772294521,
            5.063437461853027,
            -0.012137851677834988
        ],
        "speed": 5.063450338175492,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.29436492919922,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1653.1810302734375,
                        "y": 5844.83837890625,
                        "z": 376.4425048828125
                    },
                    "rotation": {
                        "roll": 3.335111076196995e-09,
                        "pitch": 0.3377118408679962,
                        "yaw": -165.26170349121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3702392578125,
                        "y": 5830.7802734375,
                        "z": 376.4945983886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.609192848205566,
                "transform": {
                    "location": {
                        "x": -1510.72119140625,
                        "y": 5784.3271484375,
                        "z": 375.75738525390625
                    },
                    "rotation": {
                        "roll": -0.0018005437450483441,
                        "pitch": 0.4483472406864166,
                        "yaw": 156.4267120361328
                    }
                },
                "velocity": {
                    "x": -7.890568733215332,
                    "y": 3.4432079792022705,
                    "z": 0.03792567178606987
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.640847206115723,
                "transform": {
                    "location": {
                        "x": -1598.72998046875,
                        "y": 5822.7236328125,
                        "z": 376.2001037597656
                    },
                    "rotation": {
                        "roll": -0.000823975307866931,
                        "pitch": 0.4350283741950989,
                        "yaw": 156.43408203125
                    }
                },
                "velocity": {
                    "x": -10.669739723205566,
                    "y": 4.654336929321289,
                    "z": 0.055980194360017776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.464154243469238,
                "transform": {
                    "location": {
                        "x": -1560.2652587890625,
                        "y": 5805.9423828125,
                        "z": 376.0318603515625
                    },
                    "rotation": {
                        "roll": -0.40008535981178284,
                        "pitch": 0.7447364926338196,
                        "yaw": 156.47445678710938
                    }
                },
                "velocity": {
                    "x": -6.831961631774902,
                    "y": 3.005524158477783,
                    "z": 0.0687265396118164
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.749679088592529,
                "transform": {
                    "location": {
                        "x": -1532.0694580078125,
                        "y": 5793.6455078125,
                        "z": 375.8340148925781
                    },
                    "rotation": {
                        "roll": -0.001251225359737873,
                        "pitch": 0.18893668055534363,
                        "yaw": 156.25082397460938
                    }
                },
                "velocity": {
                    "x": -7.101179122924805,
                    "y": 3.103114366531372,
                    "z": 0.03821723908185959
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.987759113311768,
                "transform": {
                    "location": {
                        "x": -1564.1812744140625,
                        "y": 5781.44091796875,
                        "z": 376.0960388183594
                    },
                    "rotation": {
                        "roll": 0.0008832982275635004,
                        "pitch": 0.14127562940120697,
                        "yaw": -90.04107666015625
                    }
                },
                "velocity": {
                    "x": -0.005683188326656818,
                    "y": -7.987737655639648,
                    "z": 0.017766188830137253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035165786743164,
                "transform": {
                    "location": {
                        "x": -1564.3013916015625,
                        "y": 5729.37109375,
                        "z": 376.223388671875
                    },
                    "rotation": {
                        "roll": 0.0005560023128055036,
                        "pitch": 0.16296830773353577,
                        "yaw": -90.14755249023438
                    }
                },
                "velocity": {
                    "x": -0.020705129951238632,
                    "y": -8.035109519958496,
                    "z": 0.022002819925546646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.450270175933838,
                "transform": {
                    "location": {
                        "x": -1567.25,
                        "y": 5730.54296875,
                        "z": 376.2235412597656
                    },
                    "rotation": {
                        "roll": 0.0007546295528300107,
                        "pitch": -0.011747924610972404,
                        "yaw": 89.91329956054688
                    }
                },
                "velocity": {
                    "x": 0.009382453747093678,
                    "y": 4.450246334075928,
                    "z": -0.011111840605735779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.321706295013428,
                "transform": {
                    "location": {
                        "x": -1567.2100830078125,
                        "y": 5746.06103515625,
                        "z": 376.1766662597656
                    },
                    "rotation": {
                        "roll": 0.0006843411829322577,
                        "pitch": 0.12309366464614868,
                        "yaw": 89.87928009033203
                    }
                },
                "velocity": {
                    "x": 0.010244041681289673,
                    "y": 4.321681499481201,
                    "z": -0.010453366674482822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.48160576820373535,
        "expert_target_speed": 6.123246828825364,
        "target_point": [
            19.209119782598506,
            0.4644174265682282
        ],
        "target_point_next": [
            31.446932290293596,
            0.4438375538906005
        ]
    },
    "205": {
        "acceleration": [
            -0.05951523780822754,
            -0.5212783813476562,
            -0.007403939962387085
        ],
        "angular_velocity": [
            -0.23642124235630035,
            -0.025380855426192284,
            1.029053807258606
        ],
        "forward_vector": [
            -0.0029886122792959213,
            0.9999942183494568,
            -0.0016303055454045534
        ],
        "right_vector": [
            -0.9999953508377075,
            -0.0029876865446567535,
            0.000569915515370667
        ],
        "location": [
            -1566.5699462890625,
            5767.783203125,
            376.1215515136719
        ],
        "rotation": [
            -0.0326538011431694,
            -0.09340966492891312,
            90.17123413085938
        ],
        "velocity": [
            -0.03588399291038513,
            5.104453086853027,
            -0.013473061844706535
        ],
        "speed": 5.1045792164321036,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.22330474853516,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1655.0526123046875,
                        "y": 5844.02099609375,
                        "z": 376.4596252441406
                    },
                    "rotation": {
                        "roll": 1.3340637039505054e-08,
                        "pitch": 0.4571240544319153,
                        "yaw": -150.67259216308594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.384765625,
                        "y": 5827.30859375,
                        "z": 376.4972229003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.71676254272461,
                "transform": {
                    "location": {
                        "x": -1512.8521728515625,
                        "y": 5785.25732421875,
                        "z": 375.768310546875
                    },
                    "rotation": {
                        "roll": -0.00042724431841634214,
                        "pitch": 0.4053170680999756,
                        "yaw": 156.43603515625
                    }
                },
                "velocity": {
                    "x": -8.906538963317871,
                    "y": 3.8842039108276367,
                    "z": 0.04471990466117859
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4543,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.864421844482422,
                "transform": {
                    "location": {
                        "x": -1601.4581298828125,
                        "y": 5823.91357421875,
                        "z": 376.21405029296875
                    },
                    "rotation": {
                        "roll": -0.0015563967172056437,
                        "pitch": 0.34114745259284973,
                        "yaw": 156.4307861328125
                    }
                },
                "velocity": {
                    "x": -10.874679565429688,
                    "y": 4.743705749511719,
                    "z": 0.05562903359532356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.080914497375488,
                "transform": {
                    "location": {
                        "x": -1562.180908203125,
                        "y": 5806.77978515625,
                        "z": 376.0445556640625
                    },
                    "rotation": {
                        "roll": -0.38885489106178284,
                        "pitch": 0.6814342737197876,
                        "yaw": 156.41159057617188
                    }
                },
                "velocity": {
                    "x": -8.321414947509766,
                    "y": 3.6348865032196045,
                    "z": 0.06830161809921265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.584101676940918,
                "transform": {
                    "location": {
                        "x": -1533.8253173828125,
                        "y": 5794.4130859375,
                        "z": 375.8435363769531
                    },
                    "rotation": {
                        "roll": -0.0006103532505221665,
                        "pitch": 0.23611962795257568,
                        "yaw": 156.2030792236328
                    }
                },
                "velocity": {
                    "x": -6.948207378387451,
                    "y": 3.039670944213867,
                    "z": 0.03764055296778679
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05192756652832,
                "transform": {
                    "location": {
                        "x": -1564.18408203125,
                        "y": 5779.43798828125,
                        "z": 376.10089111328125
                    },
                    "rotation": {
                        "roll": 6.952939293114468e-05,
                        "pitch": 0.13794931769371033,
                        "yaw": -90.0775375366211
                    }
                },
                "velocity": {
                    "x": -0.014141888357698917,
                    "y": -8.051894187927246,
                    "z": 0.018343476578593254
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018893241882324,
                "transform": {
                    "location": {
                        "x": -1564.3062744140625,
                        "y": 5727.36474609375,
                        "z": 376.22894287109375
                    },
                    "rotation": {
                        "roll": -0.0005188030190765858,
                        "pitch": 0.16375377774238586,
                        "yaw": -90.1473388671875
                    }
                },
                "velocity": {
                    "x": -0.020679643377661705,
                    "y": -8.018837928771973,
                    "z": 0.021352749317884445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4911956787109375,
                "transform": {
                    "location": {
                        "x": -1567.2469482421875,
                        "y": 5731.81689453125,
                        "z": 376.2203369140625
                    },
                    "rotation": {
                        "roll": 0.0007804828928783536,
                        "pitch": 0.00041664153104647994,
                        "yaw": 89.90331268310547
                    }
                },
                "velocity": {
                    "x": 0.012642321176826954,
                    "y": 5.4911627769470215,
                    "z": -0.014221858233213425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.891995429992676,
                "transform": {
                    "location": {
                        "x": -1567.2081298828125,
                        "y": 5747.07373046875,
                        "z": 376.1750793457031
                    },
                    "rotation": {
                        "roll": 0.0003239347424823791,
                        "pitch": -0.14575622975826263,
                        "yaw": 89.87879180908203
                    }
                },
                "velocity": {
                    "x": 0.00827515497803688,
                    "y": 3.8919734954833984,
                    "z": -0.010053128935396671
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.45964881777763367,
        "expert_target_speed": 6.158934056468205,
        "target_point": [
            17.939724339281316,
            0.39044786849333457
        ],
        "target_point_next": [
            30.17737279486045,
            0.3238236812984253
        ]
    },
    "210": {
        "acceleration": [
            -0.05029529333114624,
            -0.6052207946777344,
            -0.011323727667331696
        ],
        "angular_velocity": [
            -0.3392184376716614,
            0.0038091542664915323,
            0.6026341319084167
        ],
        "forward_vector": [
            -0.006308421958237886,
            0.9999775290489197,
            -0.0022728422190994024
        ],
        "right_vector": [
            -0.9999800324440002,
            -0.006307544186711311,
            0.00039308148552663624
        ],
        "location": [
            -1566.5797119140625,
            5769.05908203125,
            376.1183776855469
        ],
        "rotation": [
            -0.0225219689309597,
            -0.13022437691688538,
            90.3614501953125
        ],
        "velocity": [
            -0.04517757147550583,
            5.073203086853027,
            -0.01377648301422596
        ],
        "speed": 5.073404239110019,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.15229797363281,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1656.640625,
                        "y": 5842.82470703125,
                        "z": 376.4750671386719
                    },
                    "rotation": {
                        "roll": -6.670182628454313e-09,
                        "pitch": 0.2735559046268463,
                        "yaw": -133.6611328125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.399169921875,
                        "y": 5823.8369140625,
                        "z": 376.50006103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.915543556213379,
                "transform": {
                    "location": {
                        "x": -1515.216064453125,
                        "y": 5786.28857421875,
                        "z": 375.7802734375
                    },
                    "rotation": {
                        "roll": 0.000807456613983959,
                        "pitch": 0.405849814414978,
                        "yaw": 156.43370056152344
                    }
                },
                "velocity": {
                    "x": -10.005083084106445,
                    "y": 4.364044189453125,
                    "z": 0.05031182989478111
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.914214134216309,
                "transform": {
                    "location": {
                        "x": -1564.400146484375,
                        "y": 5807.7490234375,
                        "z": 376.0565185546875
                    },
                    "rotation": {
                        "roll": -0.1875,
                        "pitch": 0.11273909360170364,
                        "yaw": 156.4415283203125
                    }
                },
                "velocity": {
                    "x": -9.08902359008789,
                    "y": 3.9599337577819824,
                    "z": 0.014881200157105923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.0438551902771,
                "transform": {
                    "location": {
                        "x": -1535.5018310546875,
                        "y": 5795.14697265625,
                        "z": 375.8525695800781
                    },
                    "rotation": {
                        "roll": -0.0011291505070403218,
                        "pitch": 0.21869581937789917,
                        "yaw": 156.1580810546875
                    }
                },
                "velocity": {
                    "x": -6.4532060623168945,
                    "y": 2.823258638381958,
                    "z": 0.03514096140861511
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009292602539062,
                "transform": {
                    "location": {
                        "x": -1564.18701171875,
                        "y": 5777.4296875,
                        "z": 376.10577392578125
                    },
                    "rotation": {
                        "roll": -0.0004882798530161381,
                        "pitch": 0.1365218162536621,
                        "yaw": -90.08920288085938
                    }
                },
                "velocity": {
                    "x": -0.012476073578000069,
                    "y": -8.009262084960938,
                    "z": 0.018336504697799683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03397274017334,
                "transform": {
                    "location": {
                        "x": -1564.31103515625,
                        "y": 5725.359375,
                        "z": 376.2345275878906
                    },
                    "rotation": {
                        "roll": -0.00030517863342538476,
                        "pitch": 0.16525641083717346,
                        "yaw": -90.14743041992188
                    }
                },
                "velocity": {
                    "x": -0.02065083757042885,
                    "y": -8.033918380737305,
                    "z": 0.021007290109992027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.861534118652344,
                "transform": {
                    "location": {
                        "x": -1567.2432861328125,
                        "y": 5733.259765625,
                        "z": 376.21624755859375
                    },
                    "rotation": {
                        "roll": 0.0012828928884118795,
                        "pitch": -0.08487192541360855,
                        "yaw": 89.85005187988281
                    }
                },
                "velocity": {
                    "x": 0.014910963363945484,
                    "y": 5.861489772796631,
                    "z": -0.01720787025988102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.533847332000732,
                "transform": {
                    "location": {
                        "x": -1567.2061767578125,
                        "y": 5748.1328125,
                        "z": 376.171630859375
                    },
                    "rotation": {
                        "roll": 0.0011203892063349485,
                        "pitch": 0.007472226396203041,
                        "yaw": 89.87898254394531
                    }
                },
                "velocity": {
                    "x": 0.009626743383705616,
                    "y": 4.533824443817139,
                    "z": -0.010658102110028267
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4599073529243469,
        "expert_target_speed": 6.128378530236048,
        "target_point": [
            16.665006541688044,
            0.32917600632230193
        ],
        "target_point_next": [
            28.902366389159432,
            0.2219264461703968
        ]
    },
    "215": {
        "acceleration": [
            -0.016205012798309326,
            -1.329050064086914,
            -0.017382241785526276
        ],
        "angular_velocity": [
            -0.4753214716911316,
            -0.046568822115659714,
            0.5282978415489197
        ],
        "forward_vector": [
            -0.008753931149840355,
            0.9999598860740662,
            -0.0018988834926858544
        ],
        "right_vector": [
            -0.9999616146087646,
            -0.008753305301070213,
            0.00033768825232982635
        ],
        "location": [
            -1566.592041015625,
            5770.35107421875,
            376.1151123046875
        ],
        "rotation": [
            -0.01934814639389515,
            -0.1087980791926384,
            90.50157165527344
        ],
        "velocity": [
            -0.05629570782184601,
            5.167733192443848,
            -0.014013662002980709
        ],
        "speed": 5.168039817474808,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.07329559326172,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1657.810791015625,
                        "y": 5841.11376953125,
                        "z": 376.4841613769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09903090447187424,
                        "yaw": -113.82402801513672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.41357421875,
                        "y": 5820.3642578125,
                        "z": 376.50299072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.034622192382812,
                "transform": {
                    "location": {
                        "x": -1517.62353515625,
                        "y": 5787.33837890625,
                        "z": 375.79388427734375
                    },
                    "rotation": {
                        "roll": 0.0010436070151627064,
                        "pitch": 0.23625622689723969,
                        "yaw": 156.4383544921875
                    }
                },
                "velocity": {
                    "x": -9.197936058044434,
                    "y": 4.01115083694458,
                    "z": 0.04786309227347374
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.562871932983398,
                "transform": {
                    "location": {
                        "x": -1566.8818359375,
                        "y": 5808.83154296875,
                        "z": 376.0623474121094
                    },
                    "rotation": {
                        "roll": 0.023542895913124084,
                        "pitch": 0.40932637453079224,
                        "yaw": 156.45156860351562
                    }
                },
                "velocity": {
                    "x": -10.601632118225098,
                    "y": 4.615666389465332,
                    "z": 0.03205833211541176
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.744528770446777,
                "transform": {
                    "location": {
                        "x": -1537.07470703125,
                        "y": 5795.8349609375,
                        "z": 375.8611755371094
                    },
                    "rotation": {
                        "roll": -0.003051760606467724,
                        "pitch": 0.22548502683639526,
                        "yaw": 156.16064453125
                    }
                },
                "velocity": {
                    "x": -6.179914951324463,
                    "y": 2.7011537551879883,
                    "z": 0.033008232712745667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055432319641113,
                "transform": {
                    "location": {
                        "x": -1564.1905517578125,
                        "y": 5775.4208984375,
                        "z": 376.1106262207031
                    },
                    "rotation": {
                        "roll": -0.0009155347943305969,
                        "pitch": 0.14001886546611786,
                        "yaw": -90.1056137084961
                    }
                },
                "velocity": {
                    "x": -0.01748003251850605,
                    "y": -8.055388450622559,
                    "z": 0.019900206476449966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01988410949707,
                "transform": {
                    "location": {
                        "x": -1564.31591796875,
                        "y": 5723.35302734375,
                        "z": 376.2401123046875
                    },
                    "rotation": {
                        "roll": 0.0005950292688794434,
                        "pitch": 0.16475097835063934,
                        "yaw": -90.14739227294922
                    }
                },
                "velocity": {
                    "x": -0.020585570484399796,
                    "y": -8.019826889038086,
                    "z": 0.022019270807504654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.980096817016602,
                "transform": {
                    "location": {
                        "x": -1567.238525390625,
                        "y": 5734.9921875,
                        "z": 376.21142578125
                    },
                    "rotation": {
                        "roll": -0.00012206798419356346,
                        "pitch": -0.042941395193338394,
                        "yaw": 89.8564224243164
                    }
                },
                "velocity": {
                    "x": 0.017597798258066177,
                    "y": 6.980050086975098,
                    "z": -0.01856359839439392
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.005224704742432,
                "transform": {
                    "location": {
                        "x": -1567.203857421875,
                        "y": 5749.20849609375,
                        "z": 376.1695861816406
                    },
                    "rotation": {
                        "roll": 0.0005937697715125978,
                        "pitch": -0.19841697812080383,
                        "yaw": 89.875732421875
                    }
                },
                "velocity": {
                    "x": 0.008716702461242676,
                    "y": 4.005201816558838,
                    "z": -0.010326309129595757
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.43211445212364197,
        "expert_target_speed": 6.211959343350737,
        "target_point": [
            15.373711015656458,
            0.2874084382948447
        ],
        "target_point_next": [
            27.61077203030367,
            0.15023617995156713
        ]
    },
    "220": {
        "acceleration": [
            -0.03963783383369446,
            0.04580497741699219,
            0.002659223973751068
        ],
        "angular_velocity": [
            -0.001976472558453679,
            0.04031425341963768,
            0.3747784495353699
        ],
        "forward_vector": [
            -0.010611687786877155,
            0.9999391436576843,
            -0.003003473626449704
        ],
        "right_vector": [
            -0.9999436140060425,
            -0.01061094831675291,
            0.00026205379981547594
        ],
        "location": [
            -1566.606201171875,
            5771.6240234375,
            376.1121826171875
        ],
        "rotation": [
            -0.015014644712209702,
            -0.17208661139011383,
            90.60801696777344
        ],
        "velocity": [
            -0.061489712446928024,
            5.048227310180664,
            -0.013585662469267845
        ],
        "speed": 5.048601782671189,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.01609802246094,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3238525390625,
                        "y": 5839.10791015625,
                        "z": 376.486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -94.92742919921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.42822265625,
                        "y": 5816.892578125,
                        "z": 376.50592041015625
                    },
                    "rotation": {
                        "roll": -1.667527116389067e-09,
                        "pitch": 0.04953936114907265,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036057472229004,
                "transform": {
                    "location": {
                        "x": -1519.707763671875,
                        "y": 5788.24755859375,
                        "z": 375.80584716796875
                    },
                    "rotation": {
                        "roll": 0.0007839470636099577,
                        "pitch": 0.09807468205690384,
                        "yaw": 156.42572021484375
                    }
                },
                "velocity": {
                    "x": -7.365354061126709,
                    "y": 3.2137680053710938,
                    "z": 0.03842611238360405
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.795863151550293,
                "transform": {
                    "location": {
                        "x": -1569.58837890625,
                        "y": 5810.01123046875,
                        "z": 376.0772705078125
                    },
                    "rotation": {
                        "roll": 0.008395749144256115,
                        "pitch": 0.36842721700668335,
                        "yaw": 156.45530700683594
                    }
                },
                "velocity": {
                    "x": -10.813053131103516,
                    "y": 4.713403701782227,
                    "z": 0.06393276154994965
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.3500213623046875,
                "transform": {
                    "location": {
                        "x": -1538.5748291015625,
                        "y": 5796.4912109375,
                        "z": 375.8693542480469
                    },
                    "rotation": {
                        "roll": -0.0011901838006451726,
                        "pitch": 0.23570981621742249,
                        "yaw": 156.09915161132812
                    }
                },
                "velocity": {
                    "x": -5.816744804382324,
                    "y": 2.546997308731079,
                    "z": 0.03252086415886879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000280380249023,
                "transform": {
                    "location": {
                        "x": -1564.1947021484375,
                        "y": 5773.4150390625,
                        "z": 376.11553955078125
                    },
                    "rotation": {
                        "roll": -6.103832129156217e-05,
                        "pitch": 0.1403808742761612,
                        "yaw": -90.120849609375
                    }
                },
                "velocity": {
                    "x": -0.01683054305613041,
                    "y": -8.000234603881836,
                    "z": 0.021266983821988106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03428840637207,
                "transform": {
                    "location": {
                        "x": -1564.3209228515625,
                        "y": 5721.3466796875,
                        "z": 376.2456970214844
                    },
                    "rotation": {
                        "roll": 0.0008797105983830988,
                        "pitch": 0.16483977437019348,
                        "yaw": -90.14743041992188
                    }
                },
                "velocity": {
                    "x": -0.020562563091516495,
                    "y": -8.034233093261719,
                    "z": 0.02167685516178608
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.270381927490234,
                "transform": {
                    "location": {
                        "x": -1567.234619140625,
                        "y": 5736.61669921875,
                        "z": 376.206787109375
                    },
                    "rotation": {
                        "roll": 7.730705874564592e-06,
                        "pitch": -0.21127140522003174,
                        "yaw": 89.85100555419922
                    }
                },
                "velocity": {
                    "x": 0.016218295320868492,
                    "y": 6.27033805847168,
                    "z": -0.017027396708726883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.483447551727295,
                "transform": {
                    "location": {
                        "x": -1567.2020263671875,
                        "y": 5750.234375,
                        "z": 376.16644287109375
                    },
                    "rotation": {
                        "roll": 1.2499797776399646e-05,
                        "pitch": -0.09893528372049332,
                        "yaw": 89.87586212158203
                    }
                },
                "velocity": {
                    "x": 0.009745337069034576,
                    "y": 4.483425140380859,
                    "z": -0.010252570733428001
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4055166244506836,
        "expert_target_speed": 6.100397419021176,
        "target_point": [
            14.101190858860251,
            0.25818414674847495
        ],
        "target_point_next": [
            26.337975771696613,
            0.09826697556845809
        ]
    },
    "225": {
        "acceleration": [
            -0.03167927265167236,
            -0.4787445068359375,
            -0.003940388560295105
        ],
        "angular_velocity": [
            -0.07303664088249207,
            -0.020587235689163208,
            0.3939365744590759
        ],
        "forward_vector": [
            -0.012195081450045109,
            0.999924898147583,
            -0.0011749265249818563
        ],
        "right_vector": [
            -0.9999255537986755,
            -0.012194792740046978,
            0.00025246740551665425
        ],
        "location": [
            -1566.622802734375,
            5772.92041015625,
            376.10858154296875
        ],
        "rotation": [
            -0.014465327374637127,
            -0.06731834262609482,
            90.69874572753906
        ],
        "velocity": [
            -0.07293696701526642,
            5.3242316246032715,
            -0.013543138280510902
        ],
        "speed": 5.324731185100613,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.94442749023438,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.4261779785156
            ],
            "velocity": [
                0.0,
                0.0,
                -1.9600002765655518
            ],
            "speed_kmh": 7.056000995635986,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.4261779785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.343505859375,
                        "y": 5837.0244140625,
                        "z": 376.4888916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4425048828125,
                        "y": 5813.419921875,
                        "z": 376.5089111328125
                    },
                    "rotation": {
                        "roll": -1.667527116389067e-09,
                        "pitch": 0.04953936114907265,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.6548871994018555,
                "transform": {
                    "location": {
                        "x": -1521.364013671875,
                        "y": 5788.9697265625,
                        "z": 375.8142395019531
                    },
                    "rotation": {
                        "roll": 0.0008486240403726697,
                        "pitch": 0.10679683089256287,
                        "yaw": 156.41661071777344
                    }
                },
                "velocity": {
                    "x": -6.099086284637451,
                    "y": 2.6622490882873535,
                    "z": 0.03315006196498871
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.516797065734863,
                "transform": {
                    "location": {
                        "x": -1572.2530517578125,
                        "y": 5811.1728515625,
                        "z": 376.0930480957031
                    },
                    "rotation": {
                        "roll": 0.001468961825594306,
                        "pitch": 0.28087785840034485,
                        "yaw": 156.43692016601562
                    }
                },
                "velocity": {
                    "x": -10.556964874267578,
                    "y": 4.602559566497803,
                    "z": 0.05968265235424042
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.056765556335449,
                "transform": {
                    "location": {
                        "x": -1539.993408203125,
                        "y": 5797.11181640625,
                        "z": 375.8772277832031
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": 0.23534098267555237,
                        "yaw": 156.1125946044922
                    }
                },
                "velocity": {
                    "x": -5.5494842529296875,
                    "y": 2.4262733459472656,
                    "z": 0.028758114203810692
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060928344726562,
                "transform": {
                    "location": {
                        "x": -1564.19921875,
                        "y": 5771.40673828125,
                        "z": 376.1205749511719
                    },
                    "rotation": {
                        "roll": 0.0007065664394758642,
                        "pitch": 0.13954758644104004,
                        "yaw": -90.12512969970703
                    }
                },
                "velocity": {
                    "x": -0.017563754692673683,
                    "y": -8.060881614685059,
                    "z": 0.021193351596593857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019525527954102,
                "transform": {
                    "location": {
                        "x": -1564.3258056640625,
                        "y": 5719.34130859375,
                        "z": 376.2513732910156
                    },
                    "rotation": {
                        "roll": 4.428969259606674e-05,
                        "pitch": 0.16723717749118805,
                        "yaw": -90.14739227294922
                    }
                },
                "velocity": {
                    "x": -0.020612921565771103,
                    "y": -8.01947021484375,
                    "z": 0.02133219689130783
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.879601001739502,
                "transform": {
                    "location": {
                        "x": -1567.230712890625,
                        "y": 5738.1962890625,
                        "z": 376.20245361328125
                    },
                    "rotation": {
                        "roll": 0.0004936043987981975,
                        "pitch": -0.20590287446975708,
                        "yaw": 89.84965515136719
                    }
                },
                "velocity": {
                    "x": 0.01527191698551178,
                    "y": 5.879558563232422,
                    "z": -0.016338663175702095
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.528950214385986,
                "transform": {
                    "location": {
                        "x": -1567.198974609375,
                        "y": 5751.40087890625,
                        "z": 376.16339111328125
                    },
                    "rotation": {
                        "roll": 0.0009209889103658497,
                        "pitch": -0.06625965982675552,
                        "yaw": 89.86786651611328
                    }
                },
                "velocity": {
                    "x": 0.010442675091326237,
                    "y": 4.528918743133545,
                    "z": -0.013291901908814907
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3832330107688904,
        "expert_target_speed": 6.346917473939254,
        "target_point": [
            12.805089257105978,
            0.23506558567974903
        ],
        "target_point_next": [
            25.041605585848846,
            0.055770741730186035
        ]
    },
    "230": {
        "acceleration": [
            -0.04834979772567749,
            -0.7131862640380859,
            -0.0080898217856884
        ],
        "angular_velocity": [
            -0.2688610553741455,
            0.026277581229805946,
            0.6498168110847473
        ],
        "forward_vector": [
            -0.014291631989181042,
            0.9998946785926819,
            -0.0025401085149496794
        ],
        "right_vector": [
            -0.999897837638855,
            -0.014290648512542248,
            0.00040479921153746545
        ],
        "location": [
            -1566.6419677734375,
            5774.22900390625,
            376.10565185546875
        ],
        "rotation": [
            -0.02319336123764515,
            -0.14553765952587128,
            90.81887817382812
        ],
        "velocity": [
            -0.08717367053031921,
            5.178528785705566,
            -0.01371405553072691
        ],
        "speed": 5.179262460352333,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.87007904052734,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2458801269531
            ],
            "velocity": [
                0.0003873462264891714,
                -0.00033398563391529024,
                0.11087285727262497
            ],
            "speed_kmh": 0.3991465329178637,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.11087403446435928,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2458801269531
                    },
                    "rotation": {
                        "roll": 0.00017860384832601994,
                        "pitch": -0.2532360851764679,
                        "yaw": -23.571025848388672
                    }
                },
                "velocity": {
                    "x": 0.0003873462264891714,
                    "y": -0.00033398563391529024,
                    "z": 0.11087285727262497
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3524169921875,
                        "y": 5834.94091796875,
                        "z": 376.49066162109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.456787109375,
                        "y": 5809.94775390625,
                        "z": 376.5119934082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.053432565182447433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.7318243980407715,
                "transform": {
                    "location": {
                        "x": -1522.7962646484375,
                        "y": 5789.5947265625,
                        "z": 375.82135009765625
                    },
                    "rotation": {
                        "roll": 0.0005431320169009268,
                        "pitch": 0.15212196111679077,
                        "yaw": 156.42514038085938
                    }
                },
                "velocity": {
                    "x": -5.253368854522705,
                    "y": 2.2924110889434814,
                    "z": 0.027829961851239204
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.546194076538086,
                "transform": {
                    "location": {
                        "x": -1574.8919677734375,
                        "y": 5812.32373046875,
                        "z": 376.1075439453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2881656587123871,
                        "yaw": 156.4501953125
                    }
                },
                "velocity": {
                    "x": -10.583820343017578,
                    "y": 4.614543437957764,
                    "z": 0.0576467402279377
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.673929214477539,
                "transform": {
                    "location": {
                        "x": -1541.333984375,
                        "y": 5797.69775390625,
                        "z": 375.8846130371094
                    },
                    "rotation": {
                        "roll": -0.003723139874637127,
                        "pitch": 0.24247169494628906,
                        "yaw": 156.08889770507812
                    }
                },
                "velocity": {
                    "x": -5.198763847351074,
                    "y": 2.2727627754211426,
                    "z": 0.029649753123521805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999786376953125,
                "transform": {
                    "location": {
                        "x": -1564.203857421875,
                        "y": 5769.3994140625,
                        "z": 376.1255798339844
                    },
                    "rotation": {
                        "roll": 0.00011954867659369484,
                        "pitch": 0.1422591656446457,
                        "yaw": -90.12841033935547
                    }
                },
                "velocity": {
                    "x": -0.017885761335492134,
                    "y": -7.9997382164001465,
                    "z": 0.021274985745549202
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034076690673828,
                "transform": {
                    "location": {
                        "x": -1564.33056640625,
                        "y": 5717.3349609375,
                        "z": 376.2571105957031
                    },
                    "rotation": {
                        "roll": 0.0007147583528421819,
                        "pitch": 0.17058396339416504,
                        "yaw": -90.14739227294922
                    }
                },
                "velocity": {
                    "x": -0.02067868411540985,
                    "y": -8.034021377563477,
                    "z": 0.021519459784030914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010447428794577718,
                "transform": {
                    "location": {
                        "x": -1567.22900390625,
                        "y": 5738.85693359375,
                        "z": 376.1994323730469
                    },
                    "rotation": {
                        "roll": 0.00023588395561091602,
                        "pitch": -0.8983132839202881,
                        "yaw": 89.84439086914062
                    }
                },
                "velocity": {
                    "x": -0.00033243600046262145,
                    "y": -0.0008333235746249557,
                    "z": -0.0005352998268790543
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.421173095703125,
                "transform": {
                    "location": {
                        "x": -1567.1961669921875,
                        "y": 5752.4833984375,
                        "z": 376.1609191894531
                    },
                    "rotation": {
                        "roll": 0.00034591357689350843,
                        "pitch": -0.1885405331850052,
                        "yaw": 89.86579895019531
                    }
                },
                "velocity": {
                    "x": 0.010304979979991913,
                    "y": 4.421142101287842,
                    "z": -0.01285499520599842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3602897822856903,
        "expert_target_speed": 6.2113659652112325,
        "target_point": [
            11.496819166596595,
            0.20780274529320825
        ],
        "target_point_next": [
            23.732933462708978,
            0.002899262814572423
        ]
    },
    "235": {
        "acceleration": [
            -0.08824259042739868,
            0.3917503356933594,
            -0.02317294478416443
        ],
        "angular_velocity": [
            0.11883426457643509,
            0.04180276393890381,
            0.7273625731468201
        ],
        "forward_vector": [
            -0.017299124971032143,
            0.9998465776443481,
            -0.0027339423540979624
        ],
        "right_vector": [
            -0.9998502135276794,
            -0.017297925427556038,
            0.00046232290333136916
        ],
        "location": [
            -1566.6654052734375,
            5775.52001953125,
            376.1025390625
        ],
        "rotation": [
            -0.026489252224564552,
            -0.1566435545682907,
            90.99121856689453
        ],
        "velocity": [
            -0.10437120497226715,
            5.1644206047058105,
            -0.013718079775571823
        ],
        "speed": 5.1654751505294545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.81610870361328,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.27178955078125
            ],
            "velocity": [
                0.0002470739418640733,
                -7.785936759319156e-05,
                0.0602116622030735
            ],
            "speed_kmh": 0.2167639900730905,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.06021222099661827,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.27178955078125
                    },
                    "rotation": {
                        "roll": 0.00012387843162287027,
                        "pitch": -0.25338634848594666,
                        "yaw": -23.571025848388672
                    }
                },
                "velocity": {
                    "x": 0.0002470739418640733,
                    "y": -7.785936759319156e-05,
                    "z": 0.0602116622030735
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.36181640625,
                        "y": 5832.85791015625,
                        "z": 376.4925231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.47119140625,
                        "y": 5806.4755859375,
                        "z": 376.51513671875
                    },
                    "rotation": {
                        "roll": 3.335054676867344e-09,
                        "pitch": 0.05734626576304436,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.635559558868408,
                "transform": {
                    "location": {
                        "x": -1524.0726318359375,
                        "y": 5790.15234375,
                        "z": 375.82733154296875
                    },
                    "rotation": {
                        "roll": 0.0006733930786140263,
                        "pitch": 0.23829162120819092,
                        "yaw": 156.42144775390625
                    }
                },
                "velocity": {
                    "x": -5.165010929107666,
                    "y": 2.2542245388031006,
                    "z": 0.025812596082687378
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.595826148986816,
                "transform": {
                    "location": {
                        "x": -1577.5458984375,
                        "y": 5813.48046875,
                        "z": 376.1219787597656
                    },
                    "rotation": {
                        "roll": 0.0015573902055621147,
                        "pitch": 0.29367080330848694,
                        "yaw": 156.42640686035156
                    }
                },
                "velocity": {
                    "x": -10.627647399902344,
                    "y": 4.638210773468018,
                    "z": 0.05746722221374512
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.467973232269287,
                "transform": {
                    "location": {
                        "x": -1542.6109619140625,
                        "y": 5798.25634765625,
                        "z": 375.8916320800781
                    },
                    "rotation": {
                        "roll": -0.0022582984529435635,
                        "pitch": 0.2457296997308731,
                        "yaw": 156.09800720214844
                    }
                },
                "velocity": {
                    "x": -5.009943008422852,
                    "y": 2.1905245780944824,
                    "z": 0.0283807460218668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059417724609375,
                "transform": {
                    "location": {
                        "x": -1564.208740234375,
                        "y": 5767.3916015625,
                        "z": 376.1305847167969
                    },
                    "rotation": {
                        "roll": 0.00017703849880490452,
                        "pitch": 0.1418083757162094,
                        "yaw": -90.1370620727539
                    }
                },
                "velocity": {
                    "x": -0.01934269815683365,
                    "y": -8.059367179870605,
                    "z": 0.02096053957939148
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018671989440918,
                "transform": {
                    "location": {
                        "x": -1564.3355712890625,
                        "y": 5715.32861328125,
                        "z": 376.2628479003906
                    },
                    "rotation": {
                        "roll": 0.0020170556381344795,
                        "pitch": 0.1694364994764328,
                        "yaw": -90.14739227294922
                    }
                },
                "velocity": {
                    "x": -0.020565593615174294,
                    "y": -8.018614768981934,
                    "z": 0.022412728518247604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1142783164978027,
                "transform": {
                    "location": {
                        "x": -1567.2283935546875,
                        "y": 5738.9990234375,
                        "z": 376.199951171875
                    },
                    "rotation": {
                        "roll": 4.188864750176435e-06,
                        "pitch": -0.2439538538455963,
                        "yaw": 89.82095336914062
                    }
                },
                "velocity": {
                    "x": 0.004369840957224369,
                    "y": 1.1142659187316895,
                    "z": -0.0028995226603001356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.053237438201904,
                "transform": {
                    "location": {
                        "x": -1567.1932373046875,
                        "y": 5753.6943359375,
                        "z": 376.1571044921875
                    },
                    "rotation": {
                        "roll": -0.0004577619256451726,
                        "pitch": 0.021556075662374496,
                        "yaw": 89.8647689819336
                    }
                },
                "velocity": {
                    "x": 0.011839128099381924,
                    "y": 5.0532121658325195,
                    "z": -0.010816097259521484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32162508368492126,
        "expert_target_speed": 6.193811578582151,
        "target_point": [
            10.20616432266294,
            0.17211798387334157
        ],
        "target_point_next": [
            22.441606940377998,
            -0.06958938725932312
        ]
    },
    "240": {
        "acceleration": [
            -0.04076063632965088,
            -0.26093482971191406,
            -0.001080688089132309
        ],
        "angular_velocity": [
            -0.031523190438747406,
            -0.024134783074259758,
            0.6862635612487793
        ],
        "forward_vector": [
            -0.02032984234392643,
            0.9997902512550354,
            -0.0024863453581929207
        ],
        "right_vector": [
            -0.9997932314872742,
            -0.02032875455915928,
            0.0004623233980964869
        ],
        "location": [
            -1566.6929931640625,
            5776.81103515625,
            376.0993347167969
        ],
        "rotation": [
            -0.026489263400435448,
            -0.1424572467803955,
            91.16490173339844
        ],
        "velocity": [
            -0.11932322382926941,
            5.16511344909668,
            -0.013661889359354973
        ],
        "speed": 5.166491553635253,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.76803588867188,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.27886962890625
            ],
            "velocity": [
                8.35591199574992e-05,
                6.144835788290948e-05,
                0.010682007297873497
            ],
            "speed_kmh": 0.03845703903955585,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.010682511143386364,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.27886962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2535024583339691,
                        "yaw": -23.57102394104004
                    }
                },
                "velocity": {
                    "x": 8.35591199574992e-05,
                    "y": 6.144835788290948e-05,
                    "z": 0.010682007297873497
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3760986328125,
                        "y": 5829.38623046875,
                        "z": 376.4953918457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4857177734375,
                        "y": 5803.0029296875,
                        "z": 376.5185546875
                    },
                    "rotation": {
                        "roll": 3.335054676867344e-09,
                        "pitch": 0.05734626576304436,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.09486198425293,
                "transform": {
                    "location": {
                        "x": -1525.462890625,
                        "y": 5790.7587890625,
                        "z": 375.8332214355469
                    },
                    "rotation": {
                        "roll": -3.052309693885036e-05,
                        "pitch": 0.3849084675312042,
                        "yaw": 156.4205780029297
                    }
                },
                "velocity": {
                    "x": -6.502448081970215,
                    "y": 2.8379693031311035,
                    "z": 0.034161463379859924
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.576539039611816,
                "transform": {
                    "location": {
                        "x": -1580.200927734375,
                        "y": 5814.63916015625,
                        "z": 376.1363830566406
                    },
                    "rotation": {
                        "roll": -0.00024414228391833603,
                        "pitch": 0.28582289814949036,
                        "yaw": 156.4356689453125
                    }
                },
                "velocity": {
                    "x": -10.610491752624512,
                    "y": 4.62930154800415,
                    "z": 0.05725260451436043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.053801536560059,
                "transform": {
                    "location": {
                        "x": -1543.812255859375,
                        "y": 5798.78125,
                        "z": 375.8984375
                    },
                    "rotation": {
                        "roll": -0.0027160649187862873,
                        "pitch": 0.2426629513502121,
                        "yaw": 156.08212280273438
                    }
                },
                "velocity": {
                    "x": -4.630561828613281,
                    "y": 2.024390459060669,
                    "z": 0.02550426498055458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000008583068848,
                "transform": {
                    "location": {
                        "x": -1564.21337890625,
                        "y": 5765.38427734375,
                        "z": 376.1356201171875
                    },
                    "rotation": {
                        "roll": -9.155416773865e-05,
                        "pitch": 0.14324955642223358,
                        "yaw": -90.14089965820312
                    }
                },
                "velocity": {
                    "x": -0.019648898392915726,
                    "y": -7.999957084655762,
                    "z": 0.021067524328827858
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035233497619629,
                "transform": {
                    "location": {
                        "x": -1564.3404541015625,
                        "y": 5713.322265625,
                        "z": 376.26861572265625
                    },
                    "rotation": {
                        "roll": 0.0006067755748517811,
                        "pitch": 0.17046785354614258,
                        "yaw": -90.14739227294922
                    }
                },
                "velocity": {
                    "x": -0.020695103332400322,
                    "y": -8.035177230834961,
                    "z": 0.021775178611278534
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.171781301498413,
                "transform": {
                    "location": {
                        "x": -1567.2274169921875,
                        "y": 5739.423828125,
                        "z": 376.19915771484375
                    },
                    "rotation": {
                        "roll": -0.000549315067473799,
                        "pitch": -0.044737737625837326,
                        "yaw": 89.80694580078125
                    }
                },
                "velocity": {
                    "x": 0.005961214657872915,
                    "y": 2.1717653274536133,
                    "z": -0.0057748411782085896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.508667469024658,
                "transform": {
                    "location": {
                        "x": -1567.1904296875,
                        "y": 5754.86572265625,
                        "z": 376.15478515625
                    },
                    "rotation": {
                        "roll": 0.0022496902383863926,
                        "pitch": -0.22222702205181122,
                        "yaw": 89.83712768554688
                    }
                },
                "velocity": {
                    "x": 0.012828558683395386,
                    "y": 4.50862979888916,
                    "z": -0.013171548955142498
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2834928631782532,
        "expert_target_speed": 6.188527156414231,
        "target_point": [
            8.915330002919129,
            0.13980966778904838
        ],
        "target_point_next": [
            21.149982735601505,
            -0.1390290227211861
        ]
    },
    "245": {
        "acceleration": [
            -0.0737658143043518,
            0.3780555725097656,
            -0.00807836651802063
        ],
        "angular_velocity": [
            0.06695273518562317,
            0.02435878850519657,
            0.6758503913879395
        ],
        "forward_vector": [
            -0.023357750847935677,
            0.9997245073318481,
            -0.0023281550966203213
        ],
        "right_vector": [
            -0.9997270703315735,
            -0.023356731981039047,
            0.0004644541477318853
        ],
        "location": [
            -1566.724365234375,
            5778.1083984375,
            376.09613037109375
        ],
        "rotation": [
            -0.026611335575580597,
            -0.13339358568191528,
            91.33842468261719
        ],
        "velocity": [
            -0.13604117929935455,
            5.205239772796631,
            -0.01371140405535698
        ],
        "speed": 5.207017216676845,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.72140502929688,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2799072265625
            ],
            "velocity": [
                2.448547638778109e-05,
                -1.2406985661073122e-05,
                0.002482619136571884
            ],
            "speed_kmh": 0.008937975172744438,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0024827709421515465,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2799072265625
                    },
                    "rotation": {
                        "roll": 9.411612154508475e-06,
                        "pitch": -0.2535024583339691,
                        "yaw": -23.571054458618164
                    }
                },
                "velocity": {
                    "x": 2.448547638778109e-05,
                    "y": -1.2406985661073122e-05,
                    "z": 0.002482619136571884
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.390380859375,
                        "y": 5825.91357421875,
                        "z": 376.4983215332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5,
                        "y": 5799.53125,
                        "z": 376.5220947265625
                    },
                    "rotation": {
                        "roll": 3.3350551209565538e-09,
                        "pitch": 0.0612531341612339,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.861532211303711,
                "transform": {
                    "location": {
                        "x": -1527.3275146484375,
                        "y": 5791.57275390625,
                        "z": 375.8424377441406
                    },
                    "rotation": {
                        "roll": -0.00039672412094660103,
                        "pitch": 0.46146804094314575,
                        "yaw": 156.43418884277344
                    }
                },
                "velocity": {
                    "x": -8.12192153930664,
                    "y": 3.5439248085021973,
                    "z": 0.04169011116027832
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.571433067321777,
                "transform": {
                    "location": {
                        "x": -1582.8524169921875,
                        "y": 5815.79541015625,
                        "z": 376.15069580078125
                    },
                    "rotation": {
                        "roll": 0.0005031455657444894,
                        "pitch": 0.2826605439186096,
                        "yaw": 156.42184448242188
                    }
                },
                "velocity": {
                    "x": -10.60584831237793,
                    "y": 4.627180099487305,
                    "z": 0.05702020600438118
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.948358535766602,
                "transform": {
                    "location": {
                        "x": -1544.9735107421875,
                        "y": 5799.28857421875,
                        "z": 375.9048767089844
                    },
                    "rotation": {
                        "roll": -0.00390625512227416,
                        "pitch": 0.27242207527160645,
                        "yaw": 156.285888671875
                    }
                },
                "velocity": {
                    "x": -4.535728454589844,
                    "y": 1.978058934211731,
                    "z": 0.02653759904205799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059029579162598,
                "transform": {
                    "location": {
                        "x": -1564.2183837890625,
                        "y": 5763.3759765625,
                        "z": 376.1407470703125
                    },
                    "rotation": {
                        "roll": -0.00021362416737247258,
                        "pitch": 0.14447897672653198,
                        "yaw": -90.14092254638672
                    }
                },
                "velocity": {
                    "x": -0.019785983487963676,
                    "y": -8.058976173400879,
                    "z": 0.021513165906071663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01838493347168,
                "transform": {
                    "location": {
                        "x": -1564.3453369140625,
                        "y": 5711.31591796875,
                        "z": 376.27435302734375
                    },
                    "rotation": {
                        "roll": 0.00014133351214695722,
                        "pitch": 0.16968920826911926,
                        "yaw": -90.14749145507812
                    }
                },
                "velocity": {
                    "x": -0.02065598964691162,
                    "y": -8.018326759338379,
                    "z": 0.022597236558794975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.459487199783325,
                "transform": {
                    "location": {
                        "x": -1567.2254638671875,
                        "y": 5740.11279296875,
                        "z": 376.1973876953125
                    },
                    "rotation": {
                        "roll": 0.000814740255009383,
                        "pitch": 0.02593422681093216,
                        "yaw": 89.82374572753906
                    }
                },
                "velocity": {
                    "x": 0.008808840066194534,
                    "y": 3.4594616889953613,
                    "z": -0.009973926469683647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.1578593254089355,
                "transform": {
                    "location": {
                        "x": -1567.187255859375,
                        "y": 5756.08740234375,
                        "z": 376.1509704589844
                    },
                    "rotation": {
                        "roll": 4.863445428782143e-05,
                        "pitch": -0.0050065284594893456,
                        "yaw": 89.84222412109375
                    }
                },
                "velocity": {
                    "x": 0.01327564474195242,
                    "y": 5.157829284667969,
                    "z": -0.011557168327271938
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24305252730846405,
        "expert_target_speed": 6.217265871416787,
        "target_point": [
            7.61796988090304,
            0.11178839916585537
        ],
        "target_point_next": [
            19.851723584977574,
            -0.20404195513916779
        ]
    },
    "250": {
        "acceleration": [
            -0.02786785364151001,
            -0.4818153381347656,
            -0.008992757648229599
        ],
        "angular_velocity": [
            -0.12066444009542465,
            -0.01534454245120287,
            0.634709894657135
        ],
        "forward_vector": [
            -0.026169968768954277,
            0.9996544122695923,
            -0.0024863453581929207
        ],
        "right_vector": [
            -0.999657392501831,
            -0.026168929412961006,
            0.0004495402972679585
        ],
        "location": [
            -1566.7593994140625,
            5779.40478515625,
            376.0930480957031
        ],
        "rotation": [
            -0.025756843388080597,
            -0.1424572467803955,
            91.49960327148438
        ],
        "velocity": [
            -0.14835293591022491,
            5.167496681213379,
            -0.013438052497804165
        ],
        "speed": 5.1696257643996315,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.682491302490234,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2799987792969
            ],
            "velocity": [
                1.7886644855025224e-05,
                -2.4122651666402817e-05,
                0.0016351264202967286
            ],
            "speed_kmh": 0.005887447797800858,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016354020917788148,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2799987792969
                    },
                    "rotation": {
                        "roll": 3.381109854672104e-05,
                        "pitch": -0.25332486629486084,
                        "yaw": -23.571054458618164
                    }
                },
                "velocity": {
                    "x": 1.7886644855025224e-05,
                    "y": -2.4122651666402817e-05,
                    "z": 0.0016351264202967286
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4049072265625,
                        "y": 5822.44189453125,
                        "z": 376.50128173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5142822265625,
                        "y": 5796.05859375,
                        "z": 376.52581787109375
                    },
                    "rotation": {
                        "roll": 3.3350555650457636e-09,
                        "pitch": 0.06518049538135529,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.887465476989746,
                "transform": {
                    "location": {
                        "x": -1529.4156494140625,
                        "y": 5792.4833984375,
                        "z": 375.8546142578125
                    },
                    "rotation": {
                        "roll": -0.0008544949814677238,
                        "pitch": 0.33142808079719543,
                        "yaw": 156.4139404296875
                    }
                },
                "velocity": {
                    "x": -8.145679473876953,
                    "y": 3.554290294647217,
                    "z": 0.04439536854624748
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.576642036437988,
                "transform": {
                    "location": {
                        "x": -1585.50439453125,
                        "y": 5816.9521484375,
                        "z": 376.1649169921875
                    },
                    "rotation": {
                        "roll": 0.00016343961760867387,
                        "pitch": 0.2838558256626129,
                        "yaw": 156.43316650390625
                    }
                },
                "velocity": {
                    "x": -10.611063957214355,
                    "y": 4.628256320953369,
                    "z": 0.056659650057554245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.264373779296875,
                "transform": {
                    "location": {
                        "x": -1545.9638671875,
                        "y": 5799.71923828125,
                        "z": 375.91015625
                    },
                    "rotation": {
                        "roll": -0.0033569352235645056,
                        "pitch": 0.21747320890426636,
                        "yaw": 156.413330078125
                    }
                },
                "velocity": {
                    "x": -3.911159038543701,
                    "y": 1.6991918087005615,
                    "z": 0.0216082576662302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999913692474365,
                "transform": {
                    "location": {
                        "x": -1564.2232666015625,
                        "y": 5761.36865234375,
                        "z": 376.14581298828125
                    },
                    "rotation": {
                        "roll": -0.0002441400138195604,
                        "pitch": 0.1451893299818039,
                        "yaw": -90.14061737060547
                    }
                },
                "velocity": {
                    "x": -0.019667726010084152,
                    "y": -7.999860763549805,
                    "z": 0.021449727937579155
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03453540802002,
                "transform": {
                    "location": {
                        "x": -1564.35009765625,
                        "y": 5709.310546875,
                        "z": 376.2801818847656
                    },
                    "rotation": {
                        "roll": -0.00012207017425680533,
                        "pitch": 0.1737736612558365,
                        "yaw": -90.14739990234375
                    }
                },
                "velocity": {
                    "x": -0.020629379898309708,
                    "y": -8.034478187561035,
                    "z": 0.02207333594560623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.920943260192871,
                "transform": {
                    "location": {
                        "x": -1567.22265625,
                        "y": 5741.173828125,
                        "z": 376.1945495605469
                    },
                    "rotation": {
                        "roll": 0.0008790706051513553,
                        "pitch": 0.06696317344903946,
                        "yaw": 89.83916473388672
                    }
                },
                "velocity": {
                    "x": 0.012953176163136959,
                    "y": 4.920909881591797,
                    "z": -0.0126687902957201
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.925037384033203,
                "transform": {
                    "location": {
                        "x": -1567.18408203125,
                        "y": 5757.27880859375,
                        "z": 376.1481628417969
                    },
                    "rotation": {
                        "roll": -0.003326423466205597,
                        "pitch": -0.1264950931072235,
                        "yaw": 89.96186828613281
                    }
                },
                "velocity": {
                    "x": 0.01038029883056879,
                    "y": 4.9250078201293945,
                    "z": -0.01346354465931654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1999918520450592,
        "expert_target_speed": 6.173890751173242,
        "target_point": [
            18.55421068123418,
            -0.2610432729828073
        ],
        "target_point_next": [
            31.22677665386164,
            3.219176877967774
        ]
    },
    "255": {
        "acceleration": [
            -0.07532715797424316,
            0.2828502655029297,
            -0.005441475659608841
        ],
        "angular_velocity": [
            0.05966594070196152,
            -0.004984430503100157,
            0.5888124108314514
        ],
        "forward_vector": [
            -0.028853291645646095,
            0.9995803236961365,
            -0.00257527525536716
        ],
        "right_vector": [
            -0.9995836019515991,
            -0.028852295130491257,
            0.00042344111716374755
        ],
        "location": [
            -1566.797607421875,
            5780.6962890625,
            376.0899658203125
        ],
        "rotation": [
            -0.0242614708840847,
            -0.14755256474018097,
            91.65340423583984
        ],
        "velocity": [
            -0.16179125010967255,
            5.16287088394165,
            -0.013508700765669346
        ],
        "speed": 5.165405325128367,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.65495681762695,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2800598144531
            ],
            "velocity": [
                -3.6019087019667495e-06,
                -4.0222061215899885e-05,
                0.0005733707803301513
            ],
            "speed_kmh": 0.002069248057241429,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005747911054641008,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2800598144531
                    },
                    "rotation": {
                        "roll": 0.00019765718025155365,
                        "pitch": -0.25338634848594666,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": -3.6019087019667495e-06,
                    "y": -4.0222061215899885e-05,
                    "z": 0.0005733707803301513
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4193115234375,
                        "y": 5818.96923828125,
                        "z": 376.5041809082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.52880859375,
                        "y": 5792.5869140625,
                        "z": 376.5296936035156
                    },
                    "rotation": {
                        "roll": 3.3350555650457636e-09,
                        "pitch": 0.06518049538135529,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.4745564460754395,
                "transform": {
                    "location": {
                        "x": -1531.285888671875,
                        "y": 5793.2998046875,
                        "z": 375.8659973144531
                    },
                    "rotation": {
                        "roll": -0.00015258938947226852,
                        "pitch": 0.17513969540596008,
                        "yaw": 156.4541778564453
                    }
                },
                "velocity": {
                    "x": -6.85120964050293,
                    "y": 2.988076686859131,
                    "z": 0.036267220973968506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.576594352722168,
                "transform": {
                    "location": {
                        "x": -1588.1568603515625,
                        "y": 5818.1103515625,
                        "z": 376.1791076660156
                    },
                    "rotation": {
                        "roll": -0.0003357038658577949,
                        "pitch": 0.28337088227272034,
                        "yaw": 156.4167938232422
                    }
                },
                "velocity": {
                    "x": -10.61018180847168,
                    "y": 4.6301703453063965,
                    "z": 0.05560862272977829
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.52284049987793,
                "transform": {
                    "location": {
                        "x": -1547.0206298828125,
                        "y": 5800.1787109375,
                        "z": 375.91619873046875
                    },
                    "rotation": {
                        "roll": -0.00286865490488708,
                        "pitch": 0.31067797541618347,
                        "yaw": 156.46461486816406
                    }
                },
                "velocity": {
                    "x": -4.147302627563477,
                    "y": 1.8042657375335693,
                    "z": 0.02434234507381916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059943199157715,
                "transform": {
                    "location": {
                        "x": -1564.2281494140625,
                        "y": 5759.3603515625,
                        "z": 376.1510009765625
                    },
                    "rotation": {
                        "roll": -0.00045776416664011776,
                        "pitch": 0.14534641802310944,
                        "yaw": -90.14306640625
                    }
                },
                "velocity": {
                    "x": -0.021878071129322052,
                    "y": -8.059884071350098,
                    "z": 0.021561268717050552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.4364013671875,
                        "y": 5707.2265625,
                        "z": 376.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1685485690832138,
                        "yaw": -90.14044189453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.76908016204834,
                "transform": {
                    "location": {
                        "x": -1567.2193603515625,
                        "y": 5742.5234375,
                        "z": 376.1910705566406
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": -0.004487433936446905,
                        "yaw": 90.03559875488281
                    }
                },
                "velocity": {
                    "x": 0.009960206225514412,
                    "y": 5.769049644470215,
                    "z": -0.01603752188384533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.716723918914795,
                "transform": {
                    "location": {
                        "x": -1567.1812744140625,
                        "y": 5758.5048828125,
                        "z": 376.1451721191406
                    },
                    "rotation": {
                        "roll": -0.0010375999845564365,
                        "pitch": -0.1766969859600067,
                        "yaw": 89.9125747680664
                    }
                },
                "velocity": {
                    "x": 0.010516620241105556,
                    "y": 4.716691970825195,
                    "z": -0.01376548781991005
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1511709988117218,
        "expert_target_speed": 6.157662085299361,
        "target_point": [
            17.261374476163503,
            -0.3117762897652465
        ],
        "target_point_next": [
            29.943236925465552,
            3.134413700159934
        ]
    },
    "260": {
        "acceleration": [
            -0.022201836109161377,
            -0.4786872863769531,
            -0.0015836767852306366
        ],
        "angular_velocity": [
            -0.07444852590560913,
            0.03058544546365738,
            0.559125542640686
        ],
        "forward_vector": [
            -0.03138342127203941,
            0.999504029750824,
            -0.00259875925257802
        ],
        "right_vector": [
            -0.9995073676109314,
            -0.03138241916894913,
            0.000426636979682371
        ],
        "location": [
            -1566.8388671875,
            5781.982421875,
            376.0868225097656
        ],
        "rotation": [
            -0.02444458194077015,
            -0.14889810979366302,
            91.7984390258789
        ],
        "velocity": [
            -0.17276792228221893,
            5.123520851135254,
            -0.013507699593901634
        ],
        "speed": 5.126432937919644,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.639522552490234,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2800598144531
            ],
            "velocity": [
                -7.851049304008484e-07,
                -8.126664397423156e-06,
                0.001681359950453043
            ],
            "speed_kmh": 0.00605296718386831,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016813797410577536,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2800598144531
                    },
                    "rotation": {
                        "roll": 6.987004599068314e-05,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.571086883544922
                    }
                },
                "velocity": {
                    "x": -7.851049304008484e-07,
                    "y": -8.126664397423156e-06,
                    "z": 0.001681359950453043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.433837890625,
                        "y": 5815.49755859375,
                        "z": 376.5071105957031
                    },
                    "rotation": {
                        "roll": -1.667527116389067e-09,
                        "pitch": 0.04953936114907265,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.543212890625,
                        "y": 5789.1142578125,
                        "z": 376.5337829589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06909418851137161,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.987974643707275,
                "transform": {
                    "location": {
                        "x": -1532.7974853515625,
                        "y": 5793.9580078125,
                        "z": 375.8751220703125
                    },
                    "rotation": {
                        "roll": 0.0005529947229661047,
                        "pitch": 0.06457260251045227,
                        "yaw": 156.33047485351562
                    }
                },
                "velocity": {
                    "x": -4.571335792541504,
                    "y": 1.9955495595932007,
                    "z": 0.023727864027023315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.575339317321777,
                "transform": {
                    "location": {
                        "x": -1590.80908203125,
                        "y": 5819.2685546875,
                        "z": 376.1932373046875
                    },
                    "rotation": {
                        "roll": -0.0006103420164436102,
                        "pitch": 0.2802426517009735,
                        "yaw": 156.4298858642578
                    }
                },
                "velocity": {
                    "x": -10.608963012695312,
                    "y": 4.629815101623535,
                    "z": 0.05642278492450714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.1450700759887695,
                "transform": {
                    "location": {
                        "x": -1547.984130859375,
                        "y": 5800.59814453125,
                        "z": 375.9217224121094
                    },
                    "rotation": {
                        "roll": -0.0013427756493911147,
                        "pitch": 0.2547045648097992,
                        "yaw": 156.4852294921875
                    }
                },
                "velocity": {
                    "x": -3.8012166023254395,
                    "y": 1.6528446674346924,
                    "z": 0.02150907553732395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999287128448486,
                "transform": {
                    "location": {
                        "x": -1564.2330322265625,
                        "y": 5757.35302734375,
                        "z": 376.1561584472656
                    },
                    "rotation": {
                        "roll": -3.0515837352140807e-05,
                        "pitch": 0.14803750813007355,
                        "yaw": -90.14470672607422
                    }
                },
                "velocity": {
                    "x": -0.020234208554029465,
                    "y": -7.999234676361084,
                    "z": 0.020830392837524414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.4586181640625,
                        "y": 5705.1435546875,
                        "z": 376.2967834472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17111672461032867,
                        "yaw": -90.14047241210938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.015292167663574,
                "transform": {
                    "location": {
                        "x": -1567.2177734375,
                        "y": 5744.046875,
                        "z": 376.1869201660156
                    },
                    "rotation": {
                        "roll": -0.0008544910233467817,
                        "pitch": 0.0516703799366951,
                        "yaw": 90.01996612548828
                    }
                },
                "velocity": {
                    "x": 0.008333574049174786,
                    "y": 7.015263080596924,
                    "z": -0.018434004858136177
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.057297706604004,
                "transform": {
                    "location": {
                        "x": -1567.1783447265625,
                        "y": 5759.71435546875,
                        "z": 376.1418762207031
                    },
                    "rotation": {
                        "roll": 0.00041486459667794406,
                        "pitch": -0.10271921008825302,
                        "yaw": 89.88715362548828
                    }
                },
                "velocity": {
                    "x": 0.011653258465230465,
                    "y": 5.057276248931885,
                    "z": -0.00913216546177864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10179641097784042,
        "expert_target_speed": 6.1066342911779055,
        "target_point": [
            15.973736499242145,
            -0.3563144733585376
        ],
        "target_point_next": [
            28.664275104769104,
            3.0577872432439013
        ]
    },
    "265": {
        "acceleration": [
            0.1268884539604187,
            0.10107994079589844,
            0.00338725745677948
        ],
        "angular_velocity": [
            0.03611910715699196,
            -0.17274077236652374,
            -0.22245217859745026
        ],
        "forward_vector": [
            -0.03261147066950798,
            0.9994644522666931,
            -0.002707239706069231
        ],
        "right_vector": [
            -0.9994680881500244,
            -0.03261135518550873,
            8.628610521554947e-05
        ],
        "location": [
            -1566.88134765625,
            5783.26025390625,
            376.0837707519531
        ],
        "rotation": [
            -0.00494384765625,
            -0.1551135927438736,
            91.86883544921875
        ],
        "velocity": [
            -0.16166290640830994,
            5.093024253845215,
            -0.013272724114358425
        ],
        "speed": 5.0955893619446995,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.639869689941406,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.3957433111499995e-05,
                -2.3384578184959537e-07,
                9.791875345399603e-05
            ],
            "speed_kmh": 0.00035607161054430333,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.890877845464274e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0012070509837940335,
                        "pitch": -0.25393959879875183,
                        "yaw": -23.571115493774414
                    }
                },
                "velocity": {
                    "x": 1.3957433111499995e-05,
                    "y": -2.3384578184959537e-07,
                    "z": 9.791875345399603e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4483642578125,
                        "y": 5812.02490234375,
                        "z": 376.5101013183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.053432565182447433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5577392578125,
                        "y": 5785.642578125,
                        "z": 376.5379943847656
                    },
                    "rotation": {
                        "roll": -3.3350560091349735e-09,
                        "pitch": 0.072987399995327,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.8147530555725098,
                "transform": {
                    "location": {
                        "x": -1533.4866943359375,
                        "y": 5794.26220703125,
                        "z": 375.8787841796875
                    },
                    "rotation": {
                        "roll": 0.004851809237152338,
                        "pitch": 0.0407898873090744,
                        "yaw": 156.68833923339844
                    }
                },
                "velocity": {
                    "x": -2.5800726413726807,
                    "y": 1.1250988245010376,
                    "z": 0.014577674679458141
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.575838088989258,
                "transform": {
                    "location": {
                        "x": -1593.4615478515625,
                        "y": 5820.4267578125,
                        "z": 376.2072448730469
                    },
                    "rotation": {
                        "roll": -0.0006103453924879432,
                        "pitch": 0.28128767013549805,
                        "yaw": 156.41615295410156
                    }
                },
                "velocity": {
                    "x": -10.60944652557373,
                    "y": 4.629957675933838,
                    "z": 0.0562734417617321
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.843914031982422,
                "transform": {
                    "location": {
                        "x": -1548.9169921875,
                        "y": 5801.00341796875,
                        "z": 375.9268798828125
                    },
                    "rotation": {
                        "roll": -0.0015563940396532416,
                        "pitch": 0.2504766881465912,
                        "yaw": 156.49464416503906
                    }
                },
                "velocity": {
                    "x": -3.52551531791687,
                    "y": 1.5316590070724487,
                    "z": 0.02089281938970089
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06035041809082,
                "transform": {
                    "location": {
                        "x": -1564.2379150390625,
                        "y": 5755.3447265625,
                        "z": 376.1614074707031
                    },
                    "rotation": {
                        "roll": -0.000549318443518132,
                        "pitch": 0.1469651758670807,
                        "yaw": -90.1448974609375
                    }
                },
                "velocity": {
                    "x": -0.02037893794476986,
                    "y": -8.060296058654785,
                    "z": 0.021347666159272194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4538,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.4654541015625,
                        "y": 5703.06005859375,
                        "z": 376.3030700683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17111672461032867,
                        "yaw": -90.14047241210938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.813217639923096,
                "transform": {
                    "location": {
                        "x": -1567.21435546875,
                        "y": 5745.97412109375,
                        "z": 376.18170166015625
                    },
                    "rotation": {
                        "roll": 0.0032215602695941925,
                        "pitch": -0.004910905845463276,
                        "yaw": 89.90151977539062
                    }
                },
                "velocity": {
                    "x": 0.016508882865309715,
                    "y": 7.813169956207275,
                    "z": -0.02183644287288189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.939100742340088,
                "transform": {
                    "location": {
                        "x": -1567.175537109375,
                        "y": 5760.9736328125,
                        "z": 376.1388244628906
                    },
                    "rotation": {
                        "roll": -0.00030517816776409745,
                        "pitch": -0.13189777731895447,
                        "yaw": 89.87713623046875
                    }
                },
                "velocity": {
                    "x": 0.011032847687602043,
                    "y": 4.939058780670166,
                    "z": -0.017038965597748756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0608670599758625,
        "expert_target_speed": 6.057711594413279,
        "target_point": [
            14.69474870982817,
            -0.37673800385063666
        ],
        "target_point_next": [
            27.389474633784822,
            3.02176083318032
        ]
    },
    "270": {
        "acceleration": [
            0.12149125337600708,
            -0.1684284210205078,
            -0.009074024856090546
        ],
        "angular_velocity": [
            0.15271122753620148,
            0.0003548896638676524,
            -0.7815336585044861
        ],
        "forward_vector": [
            -0.03037257306277752,
            0.9995364546775818,
            -0.00209951214492321
        ],
        "right_vector": [
            -0.9995386004447937,
            -0.030373305082321167,
            -0.00031792608206160367
        ],
        "location": [
            -1566.919189453125,
            5784.53125,
            376.0805358886719
        ],
        "rotation": [
            0.018215863034129143,
            -0.1202932819724083,
            91.74049377441406
        ],
        "velocity": [
            -0.139813631772995,
            5.15946102142334,
            -0.012922057881951332
        ],
        "speed": 5.161355043321117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.65906524658203,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -1.0267197467328515e-05,
                -4.936223558615893e-05,
                -0.0001890594867290929
            ],
            "speed_kmh": 0.0007044008345959093,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001956669002538547,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00018310287850908935,
                        "pitch": -0.2534478008747101,
                        "yaw": -23.571115493774414
                    }
                },
                "velocity": {
                    "x": -1.0267197467328515e-05,
                    "y": -4.936223558615893e-05,
                    "z": -0.0001890594867290929
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.462646484375,
                        "y": 5808.55322265625,
                        "z": 376.51324462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.053432565182447433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.572265625,
                        "y": 5782.169921875,
                        "z": 376.5423278808594
                    },
                    "rotation": {
                        "roll": -3.3350560091349735e-09,
                        "pitch": 0.072987399995327,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.12358283996582,
                "transform": {
                    "location": {
                        "x": -1534.284912109375,
                        "y": 5794.609375,
                        "z": 375.8805847167969
                    },
                    "rotation": {
                        "roll": 0.0016950506251305342,
                        "pitch": 0.3404780924320221,
                        "yaw": 156.5991973876953
                    }
                },
                "velocity": {
                    "x": -3.779991388320923,
                    "y": 1.6477967500686646,
                    "z": 0.019149694591760635
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.575949668884277,
                "transform": {
                    "location": {
                        "x": -1596.11376953125,
                        "y": 5821.58544921875,
                        "z": 376.2213134765625
                    },
                    "rotation": {
                        "roll": -0.00012206440442241728,
                        "pitch": 0.280686616897583,
                        "yaw": 156.43002319335938
                    }
                },
                "velocity": {
                    "x": -10.609481811523438,
                    "y": 4.630161762237549,
                    "z": 0.0557422898709774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.800537586212158,
                "transform": {
                    "location": {
                        "x": -1549.7930908203125,
                        "y": 5801.38427734375,
                        "z": 375.9319152832031
                    },
                    "rotation": {
                        "roll": -0.0007934587192721665,
                        "pitch": 0.28184774518013,
                        "yaw": 156.4985809326172
                    }
                },
                "velocity": {
                    "x": -3.4855294227600098,
                    "y": 1.5148435831069946,
                    "z": 0.02045558951795101
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000271797180176,
                "transform": {
                    "location": {
                        "x": -1564.2427978515625,
                        "y": 5753.33740234375,
                        "z": 376.1666259765625
                    },
                    "rotation": {
                        "roll": 0.0002683993079699576,
                        "pitch": 0.14918498694896698,
                        "yaw": -90.14464569091797
                    }
                },
                "velocity": {
                    "x": -0.020226573571562767,
                    "y": -8.000219345092773,
                    "z": 0.02077152207493782
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.670650959014893,
                "transform": {
                    "location": {
                        "x": -1567.2099609375,
                        "y": 5747.79248046875,
                        "z": 376.1764221191406
                    },
                    "rotation": {
                        "roll": 0.0027899867855012417,
                        "pitch": -0.25707465410232544,
                        "yaw": 89.85125732421875
                    }
                },
                "velocity": {
                    "x": 0.017447393387556076,
                    "y": 6.670602798461914,
                    "z": -0.018337436020374298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.910371780395508,
                "transform": {
                    "location": {
                        "x": -1567.172607421875,
                        "y": 5762.2109375,
                        "z": 376.1355285644531
                    },
                    "rotation": {
                        "roll": -0.00030517857521772385,
                        "pitch": -0.16088509559631348,
                        "yaw": 89.86692810058594
                    }
                },
                "velocity": {
                    "x": 0.011415926739573479,
                    "y": 4.910341739654541,
                    "z": -0.01290641725063324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024777883663773537,
        "expert_target_speed": 6.086268739227112,
        "target_point": [
            13.423995665279199,
            -0.3430825421127468
        ],
        "target_point_next": [
            26.111087111027935,
            3.083806904147095
        ]
    },
    "275": {
        "acceleration": [
            0.11296346783638,
            -0.6102085113525391,
            -0.06732694804668427
        ],
        "angular_velocity": [
            -0.03323120251297951,
            -0.0026372033171355724,
            -0.7864665389060974
        ],
        "forward_vector": [
            -0.026191504672169685,
            0.9996525049209595,
            -0.0029779626056551933
        ],
        "right_vector": [
            -0.9996567368507385,
            -0.02619323506951332,
            -0.0005438168882392347
        ],
        "location": [
            -1566.949951171875,
            5785.7900390625,
            376.07757568359375
        ],
        "rotation": [
            0.03115854784846306,
            -0.17062494158744812,
            91.50083923339844
        ],
        "velocity": [
            -0.10576212406158447,
            4.984233379364014,
            -0.015795927494764328
        ],
        "speed": 4.985355354119948,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.70320510864258,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -4.251338395988569e-06,
                -7.47621061236714e-06,
                0.0006703165709041059
            ],
            "speed_kmh": 0.002413338272166097,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006703717517666519,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -3.0516035621985793e-05,
                        "pitch": -0.2534478008747101,
                        "yaw": -23.571115493774414
                    }
                },
                "velocity": {
                    "x": -4.251338395988569e-06,
                    "y": -7.47621061236714e-06,
                    "z": 0.0006703165709041059
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.476806640625,
                        "y": 5805.08056640625,
                        "z": 376.5165100097656
                    },
                    "rotation": {
                        "roll": 3.335054676867344e-09,
                        "pitch": 0.05734626576304436,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5865478515625,
                        "y": 5778.69775390625,
                        "z": 376.546875
                    },
                    "rotation": {
                        "roll": 3.3350562311795784e-09,
                        "pitch": 0.07690109312534332,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.356723785400391,
                "transform": {
                    "location": {
                        "x": -1535.3836669921875,
                        "y": 5795.08740234375,
                        "z": 375.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0005465025897137821,
                        "pitch": 0.41164180636405945,
                        "yaw": 156.53089904785156
                    }
                },
                "velocity": {
                    "x": -4.910552024841309,
                    "y": 2.1401207447052,
                    "z": 0.029188603162765503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.576040267944336,
                "transform": {
                    "location": {
                        "x": -1598.7662353515625,
                        "y": 5822.7431640625,
                        "z": 376.2352294921875
                    },
                    "rotation": {
                        "roll": -0.0019531291909515858,
                        "pitch": 0.2728182375431061,
                        "yaw": 156.42420959472656
                    }
                },
                "velocity": {
                    "x": -10.610982894897461,
                    "y": 4.626944065093994,
                    "z": 0.056004684418439865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.510042190551758,
                "transform": {
                    "location": {
                        "x": -1550.6138916015625,
                        "y": 5801.7412109375,
                        "z": 375.9366455078125
                    },
                    "rotation": {
                        "roll": -0.0008850089507177472,
                        "pitch": 0.2619582414627075,
                        "yaw": 156.50198364257812
                    }
                },
                "velocity": {
                    "x": -3.2193102836608887,
                    "y": 1.398612380027771,
                    "z": 0.017940405756235123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059253692626953,
                "transform": {
                    "location": {
                        "x": -1564.2476806640625,
                        "y": 5751.3291015625,
                        "z": 376.1719055175781
                    },
                    "rotation": {
                        "roll": 0.0008763015503063798,
                        "pitch": 0.14988166093826294,
                        "yaw": -90.14474487304688
                    }
                },
                "velocity": {
                    "x": -0.020336458459496498,
                    "y": -8.059200286865234,
                    "z": 0.02130957506597042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8103694915771484,
                "transform": {
                    "location": {
                        "x": -1567.20751953125,
                        "y": 5748.798828125,
                        "z": 376.1726989746094
                    },
                    "rotation": {
                        "roll": -0.00012207753024995327,
                        "pitch": -0.8858345150947571,
                        "yaw": 89.84430694580078
                    }
                },
                "velocity": {
                    "x": 0.0020979149267077446,
                    "y": 0.8103621602058411,
                    "z": -0.0027245234232395887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.023016452789307,
                "transform": {
                    "location": {
                        "x": -1567.1697998046875,
                        "y": 5763.4580078125,
                        "z": 376.1324462890625
                    },
                    "rotation": {
                        "roll": 0.0005752115393988788,
                        "pitch": -0.13510796427726746,
                        "yaw": 89.83980560302734
                    }
                },
                "velocity": {
                    "x": 0.01281773205846548,
                    "y": 5.02299165725708,
                    "z": -0.009241475723683834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 5.442945985123515e-05,
        "expert_target_speed": 5.889950865613523,
        "target_point": [
            12.166150428237113,
            -0.2847062898593417
        ],
        "target_point_next": [
            24.838796053462946,
            3.1952238081630906
        ]
    },
    "280": {
        "acceleration": [
            0.10692715644836426,
            -1.300973892211914,
            0.013624206185340881
        ],
        "angular_velocity": [
            -0.2845849394798279,
            -0.011276775039732456,
            -0.9906341433525085
        ],
        "forward_vector": [
            -0.02185291424393654,
            0.9997544288635254,
            -0.003675690619274974
        ],
        "right_vector": [
            -0.9997609853744507,
            -0.021854935213923454,
            -0.0005103282746858895
        ],
        "location": [
            -1566.9739990234375,
            5787.01123046875,
            376.07464599609375
        ],
        "rotation": [
            0.029239851981401443,
            -0.2106020450592041,
            91.25218963623047
        ],
        "velocity": [
            -0.07919349521398544,
            4.748832702636719,
            -0.01111211720854044
        ],
        "speed": 4.749492988447943,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.790977478027344,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.6329735444742255e-05,
                9.627378858567681e-06,
                3.17517806251999e-05
            ],
            "speed_kmh": 0.00013312809035298387,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9802201986312866,
                "transform": {
                    "location": {
                        "x": -1500.1278076171875,
                        "y": 5779.705078125,
                        "z": 375.69342041015625
                    },
                    "rotation": {
                        "roll": 0.00020516783115454018,
                        "pitch": 0.255182683467865,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": -0.003991906065493822,
                    "y": 0.0017519800458103418,
                    "z": -0.9802104830741882
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6980025470256805e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571147918701172
                    }
                },
                "velocity": {
                    "x": 1.6329735444742255e-05,
                    "y": 9.627378858567681e-06,
                    "z": 3.17517806251999e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4913330078125,
                        "y": 5801.6083984375,
                        "z": 376.5199890136719
                    },
                    "rotation": {
                        "roll": 3.3350551209565538e-09,
                        "pitch": 0.0612531341612339,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6007080078125,
                        "y": 5775.2255859375,
                        "z": 376.551513671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0774543434381485,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.857825756072998,
                "transform": {
                    "location": {
                        "x": -1536.626220703125,
                        "y": 5795.62841796875,
                        "z": 375.8934020996094
                    },
                    "rotation": {
                        "roll": 0.000599514227360487,
                        "pitch": 0.35873517394065857,
                        "yaw": 156.39993286132812
                    }
                },
                "velocity": {
                    "x": -5.367926597595215,
                    "y": 2.344935178756714,
                    "z": 0.02758944407105446
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4542,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.575912475585938,
                "transform": {
                    "location": {
                        "x": -1601.4188232421875,
                        "y": 5823.8994140625,
                        "z": 376.2489013671875
                    },
                    "rotation": {
                        "roll": -0.0008850164012983441,
                        "pitch": 0.2721898555755615,
                        "yaw": 156.45599365234375
                    }
                },
                "velocity": {
                    "x": -10.612150192260742,
                    "y": 4.623958110809326,
                    "z": 0.05494367331266403
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8280932903289795,
                "transform": {
                    "location": {
                        "x": -1551.4549560546875,
                        "y": 5802.107421875,
                        "z": 375.9414367675781
                    },
                    "rotation": {
                        "roll": 0.0012208702974021435,
                        "pitch": 0.33404403924942017,
                        "yaw": 156.49412536621094
                    }
                },
                "velocity": {
                    "x": -3.5099895000457764,
                    "y": 1.5277295112609863,
                    "z": 0.017710084095597267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999590873718262,
                "transform": {
                    "location": {
                        "x": -1564.25244140625,
                        "y": 5749.322265625,
                        "z": 376.1772155761719
                    },
                    "rotation": {
                        "roll": 0.0005033612833358347,
                        "pitch": 0.15025731921195984,
                        "yaw": -90.14464569091797
                    }
                },
                "velocity": {
                    "x": -0.020190315321087837,
                    "y": -7.999536514282227,
                    "z": 0.02154913917183876
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8989538550376892,
                "transform": {
                    "location": {
                        "x": -1567.2071533203125,
                        "y": 5748.89111328125,
                        "z": 376.1731872558594
                    },
                    "rotation": {
                        "roll": 0.00032960320822894573,
                        "pitch": -0.3626420497894287,
                        "yaw": 89.8235855102539
                    }
                },
                "velocity": {
                    "x": 0.004325920715928078,
                    "y": 0.8989403247833252,
                    "z": -0.0023589134216308594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.901506423950195,
                "transform": {
                    "location": {
                        "x": -1567.16650390625,
                        "y": 5764.685546875,
                        "z": 376.1293640136719
                    },
                    "rotation": {
                        "roll": 0.0011151068611070514,
                        "pitch": -0.17501676082611084,
                        "yaw": 89.83649444580078
                    }
                },
                "velocity": {
                    "x": 0.012873735278844833,
                    "y": 4.901470184326172,
                    "z": -0.013696479611098766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01591363735496998,
        "expert_target_speed": 5.625563943945508,
        "target_point": [
            10.945846052869925,
            -0.22926268434820724
        ],
        "target_point_next": [
            23.603271401636196,
            3.305626871223075
        ]
    },
    "285": {
        "acceleration": [
            0.09103044867515564,
            -1.2636947631835938,
            0.002237316220998764
        ],
        "angular_velocity": [
            -0.10232821106910706,
            -0.006320465821772814,
            -0.9137123227119446
        ],
        "forward_vector": [
            -0.017674459144473076,
            0.9998334646224976,
            -0.0045374478213489056
        ],
        "right_vector": [
            -0.9998435974121094,
            -0.017676744610071182,
            -0.0004639474209398031
        ],
        "location": [
            -1566.9913330078125,
            5788.15478515625,
            376.07220458984375
        ],
        "rotation": [
            0.02658250369131565,
            -0.2599774897098541,
            91.01273345947266
        ],
        "velocity": [
            -0.05469660088419914,
            4.423126220703125,
            -0.009692439809441566
        ],
        "speed": 4.4234643982312996,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.950843811035156,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -1.5659965356462635e-05,
                -4.6325818402692676e-05,
                6.141864287201315e-05
            ],
            "speed_kmh": 0.00028263016634143376,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10003834217786789,
                "transform": {
                    "location": {
                        "x": -1500.1279296875,
                        "y": 5779.705078125,
                        "z": 375.6459045410156
                    },
                    "rotation": {
                        "roll": -0.0001220674894284457,
                        "pitch": 0.2551485300064087,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 0.00040193088352680206,
                    "y": -0.00021472883236128837,
                    "z": 0.10003730654716492
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.850838301237673e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571147918701172
                    }
                },
                "velocity": {
                    "x": -1.5659965356462635e-05,
                    "y": -4.6325818402692676e-05,
                    "z": 6.141864287201315e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.506103515625,
                        "y": 5798.13623046875,
                        "z": 376.5235595703125
                    },
                    "rotation": {
                        "roll": 3.3350551209565538e-09,
                        "pitch": 0.0612531341612339,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.615234375,
                        "y": 5771.7529296875,
                        "z": 376.55621337890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0780007541179657,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.329042911529541,
                "transform": {
                    "location": {
                        "x": -1538.06201171875,
                        "y": 5796.25537109375,
                        "z": 375.900390625
                    },
                    "rotation": {
                        "roll": -0.00018310657469555736,
                        "pitch": 0.44369590282440186,
                        "yaw": 156.4228973388672
                    }
                },
                "velocity": {
                    "x": -6.717098712921143,
                    "y": 2.9315638542175293,
                    "z": 0.037259940057992935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.322756052017212,
                "transform": {
                    "location": {
                        "x": -1552.26416015625,
                        "y": 5802.45947265625,
                        "z": 375.9458923339844
                    },
                    "rotation": {
                        "roll": 0.0005840535741299391,
                        "pitch": 0.25378933548927307,
                        "yaw": 156.492431640625
                    }
                },
                "velocity": {
                    "x": -3.0469796657562256,
                    "y": 1.3252674341201782,
                    "z": 0.017003117129206657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05926513671875,
                "transform": {
                    "location": {
                        "x": -1564.257568359375,
                        "y": 5747.314453125,
                        "z": 376.1825256347656
                    },
                    "rotation": {
                        "roll": -0.00015259254723787308,
                        "pitch": 0.15061932802200317,
                        "yaw": -90.14510345458984
                    }
                },
                "velocity": {
                    "x": -0.02030487172305584,
                    "y": -8.059210777282715,
                    "z": 0.0214068703353405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.787048578262329,
                "transform": {
                    "location": {
                        "x": -1567.2061767578125,
                        "y": 5749.2333984375,
                        "z": 376.1726989746094
                    },
                    "rotation": {
                        "roll": -0.0009155264706350863,
                        "pitch": -0.08515196293592453,
                        "yaw": 89.79525756835938
                    }
                },
                "velocity": {
                    "x": 0.00569935142993927,
                    "y": 1.7870343923568726,
                    "z": -0.00428053829818964
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.872748374938965,
                "transform": {
                    "location": {
                        "x": -1567.1630859375,
                        "y": 5765.89990234375,
                        "z": 376.1267395019531
                    },
                    "rotation": {
                        "roll": 0.001152367447502911,
                        "pitch": -0.274682879447937,
                        "yaw": 89.83744812011719
                    }
                },
                "velocity": {
                    "x": 0.010833118110895157,
                    "y": 3.872715473175049,
                    "z": -0.011743802577257156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.026217183098196983,
        "expert_target_speed": 5.262304167865033,
        "target_point": [
            9.803026267966956,
            -0.18062836539827626
        ],
        "target_point_next": [
            22.445566262310514,
            3.407134603514446
        ]
    },
    "290": {
        "acceleration": [
            0.09550854563713074,
            -1.1102771759033203,
            0.008301176130771637
        ],
        "angular_velocity": [
            0.013826522044837475,
            0.021089402958750725,
            -1.303183674812317
        ],
        "forward_vector": [
            -0.013597916811704636,
            0.9998965263366699,
            -0.00469933170825243
        ],
        "right_vector": [
            -0.9999074339866638,
            -0.013600131496787071,
            -0.00043985803495161235
        ],
        "location": [
            -1567.0030517578125,
            5789.2216796875,
            376.0697326660156
        ],
        "rotation": [
            0.02520228736102581,
            -0.26925286650657654,
            90.77913665771484
        ],
        "velocity": [
            -0.0323416031897068,
            4.1303391456604,
            -0.009824218228459358
        ],
        "speed": 4.1304657651978625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.179832458496094,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -5.149840944795869e-07,
                -3.399653360247612e-05,
                -0.0003304647107142955
            ],
            "speed_kmh": 0.0011959531306655708,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03596794977784157,
                "transform": {
                    "location": {
                        "x": -1500.1279296875,
                        "y": 5779.705078125,
                        "z": 375.66497802734375
                    },
                    "rotation": {
                        "roll": 0.00016014750872272998,
                        "pitch": 0.25499144196510315,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 0.0001324722106801346,
                    "y": -0.00011753570288419724,
                    "z": 0.03596751391887665
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003322091943118721,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0002603934844955802,
                        "pitch": -0.2532975375652313,
                        "yaw": -23.571149826049805
                    }
                },
                "velocity": {
                    "x": -5.149840944795869e-07,
                    "y": -3.399653360247612e-05,
                    "z": -0.0003304647107142955
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5203857421875,
                        "y": 5794.66357421875,
                        "z": 376.52734375
                    },
                    "rotation": {
                        "roll": 3.3350555650457636e-09,
                        "pitch": 0.06518049538135529,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6297607421875,
                        "y": 5768.28125,
                        "z": 376.5608825683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0780007541179657,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.014102458953857,
                "transform": {
                    "location": {
                        "x": -1539.7423095703125,
                        "y": 5796.98876953125,
                        "z": 375.91070556640625
                    },
                    "rotation": {
                        "roll": -0.0011291529517620802,
                        "pitch": 0.31696856021881104,
                        "yaw": 156.4244384765625
                    }
                },
                "velocity": {
                    "x": -6.42857027053833,
                    "y": 2.805316686630249,
                    "z": 0.036293696612119675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2804932594299316,
                "transform": {
                    "location": {
                        "x": -1553.0364990234375,
                        "y": 5802.79541015625,
                        "z": 375.9503173828125
                    },
                    "rotation": {
                        "roll": 0.0005037258379161358,
                        "pitch": 0.2815403938293457,
                        "yaw": 156.48648071289062
                    }
                },
                "velocity": {
                    "x": -3.008063793182373,
                    "y": 1.3087769746780396,
                    "z": 0.01709357276558876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999469757080078,
                "transform": {
                    "location": {
                        "x": -1564.2625732421875,
                        "y": 5745.306640625,
                        "z": 376.1878967285156
                    },
                    "rotation": {
                        "roll": -0.0005188027280382812,
                        "pitch": 0.15293475985527039,
                        "yaw": -90.1479721069336
                    }
                },
                "velocity": {
                    "x": -0.020669106394052505,
                    "y": -7.999415874481201,
                    "z": 0.020915688946843147
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.159935712814331,
                "transform": {
                    "location": {
                        "x": -1567.204345703125,
                        "y": 5749.8486328125,
                        "z": 376.17120361328125
                    },
                    "rotation": {
                        "roll": 7.233564247144386e-05,
                        "pitch": 0.0305924154818058,
                        "yaw": 89.8426284790039
                    }
                },
                "velocity": {
                    "x": 0.007819334976375103,
                    "y": 3.159917116165161,
                    "z": -0.007522449363023043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2257494926452637,
                "transform": {
                    "location": {
                        "x": -1567.1610107421875,
                        "y": 5766.59814453125,
                        "z": 376.125732421875
                    },
                    "rotation": {
                        "roll": 0.00042535760439932346,
                        "pitch": -0.530883252620697,
                        "yaw": 89.83844757080078
                    }
                },
                "velocity": {
                    "x": 0.009023623540997505,
                    "y": 3.225731134414673,
                    "z": -0.006195859983563423
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03299480676651001,
        "expert_target_speed": 4.89918365122875,
        "target_point": [
            8.736726235052352,
            -0.13785243249112392
        ],
        "target_point_next": [
            21.364527101278938,
            3.5014477629592133
        ]
    },
    "295": {
        "acceleration": [
            0.07902301847934723,
            -0.9891366958618164,
            0.015996750444173813
        ],
        "angular_velocity": [
            0.03165449574589729,
            -0.006101799663156271,
            -0.6046192049980164
        ],
        "forward_vector": [
            -0.00908834021538496,
            0.999948263168335,
            -0.0045698718167841434
        ],
        "right_vector": [
            -0.9999585747718811,
            -0.009090658277273178,
            -0.0004866097297053784
        ],
        "location": [
            -1567.0086669921875,
            5790.220703125,
            376.06732177734375
        ],
        "rotation": [
            0.027880975976586342,
            -0.2618352770805359,
            90.52073669433594
        ],
        "velocity": [
            -0.00855918787419796,
            3.8718221187591553,
            -0.009642848744988441
        ],
        "speed": 3.871831579370376,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.4705810546875,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.9749029888771474e-05,
                -3.962200025853235e-06,
                0.00023861532099545002
            ],
            "speed_kmh": 0.0008620703047499254,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6009458303451538,
                "transform": {
                    "location": {
                        "x": -1500.2354736328125,
                        "y": 5779.7509765625,
                        "z": 375.66827392578125
                    },
                    "rotation": {
                        "roll": -0.00018310337327420712,
                        "pitch": 0.2857409417629242,
                        "yaw": 156.35955810546875
                    }
                },
                "velocity": {
                    "x": -1.4668062925338745,
                    "y": 0.641443133354187,
                    "z": 0.007603654637932777
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023946397413965315,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 9.157144813798368e-05,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571147918701172
                    }
                },
                "velocity": {
                    "x": 1.9749029888771474e-05,
                    "y": -3.962200025853235e-06,
                    "z": 0.00023861532099545002
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5347900390625,
                        "y": 5791.19189453125,
                        "z": 376.53131103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06909418851137161,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6441650390625,
                        "y": 5764.80859375,
                        "z": 376.56573486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08324634283781052,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.95013952255249,
                "transform": {
                    "location": {
                        "x": -1541.177978515625,
                        "y": 5797.6142578125,
                        "z": 375.92022705078125
                    },
                    "rotation": {
                        "roll": -0.001922607421875,
                        "pitch": 0.14299000799655914,
                        "yaw": 156.38589477539062
                    }
                },
                "velocity": {
                    "x": -4.537381649017334,
                    "y": 1.978729009628296,
                    "z": 0.026085853576660156
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.110987901687622,
                "transform": {
                    "location": {
                        "x": -1553.749755859375,
                        "y": 5803.10546875,
                        "z": 375.9543762207031
                    },
                    "rotation": {
                        "roll": 0.00016970279102679342,
                        "pitch": 0.27430039644241333,
                        "yaw": 156.4821319580078
                    }
                },
                "velocity": {
                    "x": -2.8524999618530273,
                    "y": 1.2414462566375732,
                    "z": 0.017321262508630753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060745239257812,
                "transform": {
                    "location": {
                        "x": -1564.2674560546875,
                        "y": 5743.298828125,
                        "z": 376.19329833984375
                    },
                    "rotation": {
                        "roll": 7.391170947812498e-05,
                        "pitch": 0.15178728103637695,
                        "yaw": -90.14818572998047
                    }
                },
                "velocity": {
                    "x": -0.020811762660741806,
                    "y": -8.060688018798828,
                    "z": 0.02194463647902012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.675789833068848,
                "transform": {
                    "location": {
                        "x": -1567.2015380859375,
                        "y": 5750.84228515625,
                        "z": 376.1686096191406
                    },
                    "rotation": {
                        "roll": 0.0005265853251330554,
                        "pitch": 0.07630003988742828,
                        "yaw": 89.84266662597656
                    }
                },
                "velocity": {
                    "x": 0.012959016487002373,
                    "y": 4.675759792327881,
                    "z": -0.010695008561015129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.612120628356934,
                "transform": {
                    "location": {
                        "x": -1567.158203125,
                        "y": 5767.59619140625,
                        "z": 376.1209716796875
                    },
                    "rotation": {
                        "roll": 4.470314524951391e-05,
                        "pitch": 0.11744509637355804,
                        "yaw": 89.83882904052734
                    }
                },
                "velocity": {
                    "x": 0.012935170903801918,
                    "y": 4.61208963394165,
                    "z": -0.010911836288869381
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03194596990942955,
        "expert_target_speed": 4.5183112243547,
        "target_point": [
            7.738226372259655,
            -0.09494470206319951
        ],
        "target_point_next": [
            20.349466511615624,
            3.601334883841337
        ]
    },
    "300": {
        "acceleration": [
            0.06215760484337807,
            -0.9402704238891602,
            0.019069481641054153
        ],
        "angular_velocity": [
            0.035322126001119614,
            0.02502409927546978,
            -1.512265682220459
        ],
        "forward_vector": [
            -0.004578335210680962,
            0.9999797940254211,
            -0.004409655928611755
        ],
        "right_vector": [
            -0.9999894499778748,
            -0.004580226261168718,
            -0.00041883508674800396
        ],
        "location": [
            -1567.009521484375,
            5791.1572265625,
            376.0650634765625
        ],
        "rotation": [
            0.0239977166056633,
            -0.2526555061340332,
            90.26232147216797
        ],
        "velocity": [
            0.00838580820709467,
            3.6328086853027344,
            -0.009279593825340271
        ],
        "speed": 3.6328183639965084,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.817081451416016,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.6287676771753468e-05,
                3.774279684876092e-05,
                9.661581134423614e-05
            ],
            "speed_kmh": 0.0003779900935323531,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7998809814453125,
                "transform": {
                    "location": {
                        "x": -1500.7650146484375,
                        "y": 5779.982421875,
                        "z": 375.6705322265625
                    },
                    "rotation": {
                        "roll": 0.0004573949845507741,
                        "pitch": 0.28903308510780334,
                        "yaw": 156.37193298339844
                    }
                },
                "velocity": {
                    "x": -2.5661001205444336,
                    "y": 1.1199758052825928,
                    "z": 0.010879878886044025
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010499724885448813,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -3.0519371648551896e-05,
                        "pitch": -0.2532019317150116,
                        "yaw": -23.571178436279297
                    }
                },
                "velocity": {
                    "x": 1.6287676771753468e-05,
                    "y": 3.774279684876092e-05,
                    "z": 9.661581134423614e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5491943359375,
                        "y": 5787.71923828125,
                        "z": 376.5354309082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06909418851137161,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.65869140625,
                        "y": 5761.3369140625,
                        "z": 376.5707702636719
                    },
                    "rotation": {
                        "roll": -3.335057119357998e-09,
                        "pitch": 0.0885055884718895,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9381707906723022,
                "transform": {
                    "location": {
                        "x": -1541.77734375,
                        "y": 5797.8759765625,
                        "z": 375.9247131347656
                    },
                    "rotation": {
                        "roll": -0.00033569292281754315,
                        "pitch": -0.017451131716370583,
                        "yaw": 156.34152221679688
                    }
                },
                "velocity": {
                    "x": -1.7762306928634644,
                    "y": 0.7755051255226135,
                    "z": 0.010114707984030247
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8362724781036377,
                "transform": {
                    "location": {
                        "x": -1554.4425048828125,
                        "y": 5803.4072265625,
                        "z": 375.9583435058594
                    },
                    "rotation": {
                        "roll": 0.00021668065164703876,
                        "pitch": 0.2616303861141205,
                        "yaw": 156.47792053222656
                    }
                },
                "velocity": {
                    "x": -2.6001498699188232,
                    "y": 1.132886528968811,
                    "z": 0.015174560248851776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999362945556641,
                "transform": {
                    "location": {
                        "x": -1564.2724609375,
                        "y": 5741.291015625,
                        "z": 376.19873046875
                    },
                    "rotation": {
                        "roll": 0.0003430581418797374,
                        "pitch": 0.15477891266345978,
                        "yaw": -90.14117431640625
                    }
                },
                "velocity": {
                    "x": -0.01969902776181698,
                    "y": -7.999309539794922,
                    "z": 0.021695928648114204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.388515472412109,
                "transform": {
                    "location": {
                        "x": -1567.1981201171875,
                        "y": 5752.14501953125,
                        "z": 376.1653747558594
                    },
                    "rotation": {
                        "roll": -0.0009460454457439482,
                        "pitch": -0.015320113860070705,
                        "yaw": 89.8785400390625
                    }
                },
                "velocity": {
                    "x": 0.013424963690340519,
                    "y": 5.3884806632995605,
                    "z": -0.013863791711628437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.140671491622925,
                "transform": {
                    "location": {
                        "x": -1567.1541748046875,
                        "y": 5768.7509765625,
                        "z": 376.1195373535156
                    },
                    "rotation": {
                        "roll": -0.012237551622092724,
                        "pitch": -0.2395961880683899,
                        "yaw": 90.17948150634766
                    }
                },
                "velocity": {
                    "x": 0.0038973467890173197,
                    "y": 3.140655517578125,
                    "z": -0.009232273325324059
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.022574089467525482,
        "expert_target_speed": 4.068162153065165,
        "target_point": [
            19.39648180401148,
            3.6965976060978027
        ],
        "target_point_next": [
            40.003828330511475,
            50.34782925025089
        ]
    },
    "305": {
        "acceleration": [
            0.06978601217269897,
            -0.9361410140991211,
            -0.010792147368192673
        ],
        "angular_velocity": [
            0.0009389850310981274,
            -0.041185591369867325,
            -0.5500123500823975
        ],
        "forward_vector": [
            1.0088985618494917e-05,
            0.9999907612800598,
            -0.004300461616367102
        ],
        "right_vector": [
            -0.9999998807907104,
            7.987659046193585e-06,
            -0.0004886449314653873
        ],
        "location": [
            -1567.0057373046875,
            5792.03564453125,
            376.06292724609375
        ],
        "rotation": [
            0.02799755148589611,
            -0.24639905989170074,
            89.99942016601562
        ],
        "velocity": [
            0.029501251876354218,
            3.4018194675445557,
            -0.009395856410264969
        ],
        "speed": 3.4019473854878175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.21501922607422,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.2346915355010424e-05,
                8.398928002861794e-06,
                2.2736952814739197e-05
            ],
            "speed_kmh": 9.792776442103739e-05,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.588374376296997,
                "transform": {
                    "location": {
                        "x": -1501.502197265625,
                        "y": 5780.3046875,
                        "z": 375.6741638183594
                    },
                    "rotation": {
                        "roll": 0.00013949355343356729,
                        "pitch": 0.27611038088798523,
                        "yaw": 156.3902130126953
                    }
                },
                "velocity": {
                    "x": -3.288663148880005,
                    "y": 1.435590147972107,
                    "z": 0.014357718639075756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7202157070860267e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.102873521740548e-05,
                        "pitch": -0.25338634848594666,
                        "yaw": -23.571178436279297
                    }
                },
                "velocity": {
                    "x": 1.2346915355010424e-05,
                    "y": 8.398928002861794e-06,
                    "z": 2.2736952814739197e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5633544921875,
                        "y": 5784.24755859375,
                        "z": 376.5396728515625
                    },
                    "rotation": {
                        "roll": -3.3350560091349735e-09,
                        "pitch": 0.072987399995327,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6719970703125,
                        "y": 5758.1416015625,
                        "z": 376.5755310058594
                    },
                    "rotation": {
                        "roll": -3.335057119357998e-09,
                        "pitch": 0.0885055884718895,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.163681983947754,
                "transform": {
                    "location": {
                        "x": -1542.364013671875,
                        "y": 5798.13232421875,
                        "z": 375.9251403808594
                    },
                    "rotation": {
                        "roll": 6.049211151548661e-05,
                        "pitch": 0.31584158539772034,
                        "yaw": 156.36737060546875
                    }
                },
                "velocity": {
                    "x": -2.8995349407196045,
                    "y": 1.2654423713684082,
                    "z": 0.015378198586404324
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8503496646881104,
                "transform": {
                    "location": {
                        "x": -1555.0926513671875,
                        "y": 5803.6904296875,
                        "z": 375.9621276855469
                    },
                    "rotation": {
                        "roll": -0.0019836488645523787,
                        "pitch": 0.2939508259296417,
                        "yaw": 156.47445678710938
                    }
                },
                "velocity": {
                    "x": -2.6131200790405273,
                    "y": 1.138378620147705,
                    "z": 0.013855695724487305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05916690826416,
                "transform": {
                    "location": {
                        "x": -1564.27734375,
                        "y": 5739.28369140625,
                        "z": 376.20416259765625
                    },
                    "rotation": {
                        "roll": 0.000633055402431637,
                        "pitch": 0.15482671558856964,
                        "yaw": -90.14071655273438
                    }
                },
                "velocity": {
                    "x": -0.01981355808675289,
                    "y": -8.059114456176758,
                    "z": 0.021407118067145348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.5945539474487305,
                "transform": {
                    "location": {
                        "x": -1567.1953125,
                        "y": 5753.56494140625,
                        "z": 376.1617126464844
                    },
                    "rotation": {
                        "roll": -0.002075193915516138,
                        "pitch": 0.03365233913064003,
                        "yaw": 89.96111297607422
                    }
                },
                "velocity": {
                    "x": 0.012402274645864964,
                    "y": 6.594520092010498,
                    "z": -0.017293423414230347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.174136161804199,
                "transform": {
                    "location": {
                        "x": -1567.152587890625,
                        "y": 5769.64111328125,
                        "z": 376.1168212890625
                    },
                    "rotation": {
                        "roll": -0.00433348910883069,
                        "pitch": -0.14819461107254028,
                        "yaw": 90.20881652832031
                    }
                },
                "velocity": {
                    "x": 0.004403938539326191,
                    "y": 4.174120903015137,
                    "z": -0.010496177710592747
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4547363221645355,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012338968925178051,
        "expert_target_speed": 3.4538581725626862,
        "target_point": [
            18.500976893739633,
            3.7889388122806804
        ],
        "target_point_next": [
            38.89502394905631,
            50.53381007625156
        ]
    },
    "310": {
        "acceleration": [
            0.04649229347705841,
            -0.9857606887817383,
            -0.003256034106016159
        ],
        "angular_velocity": [
            -0.03215235844254494,
            0.016804564744234085,
            -1.7645914554595947
        ],
        "forward_vector": [
            0.00500226765871048,
            0.9999781250953674,
            -0.004320726729929447
        ],
        "right_vector": [
            -0.9999873638153076,
            0.005000423174351454,
            -0.00043764253496192396
        ],
        "location": [
            -1566.9974365234375,
            5792.853515625,
            376.06097412109375
        ],
        "rotation": [
            0.025075305253267288,
            -0.24756018817424774,
            89.71338653564453
        ],
        "velocity": [
            0.04346845671534538,
            3.1532795429229736,
            -0.009498147293925285
        ],
        "speed": 3.153579138462476,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.66482925415039,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.3144984222890344e-05,
                -2.2084796000854112e-05,
                0.00020017636416014284
            ],
            "speed_kmh": 0.0007265501555193529,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.32181978225708,
                "transform": {
                    "location": {
                        "x": -1502.412109375,
                        "y": 5780.70166015625,
                        "z": 375.6785583496094
                    },
                    "rotation": {
                        "roll": 3.3350913142271565e-09,
                        "pitch": 0.2738769054412842,
                        "yaw": 156.401611328125
                    }
                },
                "velocity": {
                    "x": -3.9608590602874756,
                    "y": 1.728981852531433,
                    "z": 0.018549194559454918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020181949366815388,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.102873521740548e-05,
                        "pitch": -0.25338634848594666,
                        "yaw": -23.571178436279297
                    }
                },
                "velocity": {
                    "x": 1.3144984222890344e-05,
                    "y": -2.2084796000854112e-05,
                    "z": 0.00020017636416014284
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5748291015625,
                        "y": 5781.525390625,
                        "z": 376.54315185546875
                    },
                    "rotation": {
                        "roll": 3.3350562311795784e-09,
                        "pitch": 0.07690109312534332,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.680419921875,
                        "y": 5756.05859375,
                        "z": 376.5788269042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.22184157371521,
                "transform": {
                    "location": {
                        "x": -1543.1485595703125,
                        "y": 5798.47509765625,
                        "z": 375.929443359375
                    },
                    "rotation": {
                        "roll": -0.0005493181524798274,
                        "pitch": 0.3131231665611267,
                        "yaw": 156.38894653320312
                    }
                },
                "velocity": {
                    "x": -2.9528629779815674,
                    "y": 1.2886440753936768,
                    "z": 0.016096800565719604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.599689245223999,
                "transform": {
                    "location": {
                        "x": -1555.703369140625,
                        "y": 5803.9560546875,
                        "z": 375.9654846191406
                    },
                    "rotation": {
                        "roll": -0.0018615741282701492,
                        "pitch": 0.27024325728416443,
                        "yaw": 156.47216796875
                    }
                },
                "velocity": {
                    "x": -2.383314371109009,
                    "y": 1.038272500038147,
                    "z": 0.013688191771507263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999755859375,
                "transform": {
                    "location": {
                        "x": -1564.2821044921875,
                        "y": 5737.27587890625,
                        "z": 376.2096862792969
                    },
                    "rotation": {
                        "roll": 0.00028053237474523485,
                        "pitch": 0.15516139566898346,
                        "yaw": -90.14060974121094
                    }
                },
                "velocity": {
                    "x": -0.019651491194963455,
                    "y": -7.999701499938965,
                    "z": 0.021996621042490005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.842478275299072,
                "transform": {
                    "location": {
                        "x": -1567.19140625,
                        "y": 5755.43603515625,
                        "z": 376.1568298339844
                    },
                    "rotation": {
                        "roll": 0.001208523754030466,
                        "pitch": 0.05116494372487068,
                        "yaw": 89.8880615234375
                    }
                },
                "velocity": {
                    "x": 0.018262118101119995,
                    "y": 7.8424272537231445,
                    "z": -0.021688999608159065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.876660346984863,
                "transform": {
                    "location": {
                        "x": -1567.1514892578125,
                        "y": 5770.826171875,
                        "z": 376.1128845214844
                    },
                    "rotation": {
                        "roll": 0.0038497475907206535,
                        "pitch": 0.1257437765598297,
                        "yaw": 90.04454803466797
                    }
                },
                "velocity": {
                    "x": 0.008795899339020252,
                    "y": 4.876638889312744,
                    "z": -0.011530427262187004
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0069651249796152115,
        "expert_target_speed": 2.4537862885882293,
        "target_point": [
            17.663931548266813,
            3.88545777111559
        ],
        "target_point_next": [
            37.82439701885232,
            50.73154380601301
        ]
    },
    "315": {
        "acceleration": [
            0.029131174087524414,
            -1.3777589797973633,
            0.02665385603904724
        ],
        "angular_velocity": [
            -0.1045970469713211,
            -0.012372980825603008,
            -0.237457275390625
        ],
        "forward_vector": [
            0.009416664019227028,
            0.9999459385871887,
            -0.004408583510667086
        ],
        "right_vector": [
            -0.9999555945396423,
            0.009415075182914734,
            -0.000380879471777007
        ],
        "location": [
            -1566.9862060546875,
            5793.609375,
            376.0590515136719
        ],
        "rotation": [
            0.02182299830019474,
            -0.2525940537452698,
            89.46044921875
        ],
        "velocity": [
            0.0532098151743412,
            2.8854329586029053,
            -0.007000007666647434
        ],
        "speed": 2.8859235338142284,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.165130615234375,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                3.3384410926373675e-05,
                3.942443072446622e-05,
                -0.00017517991364002228
            ],
            "speed_kmh": 0.0006574984530689958,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.094041347503662,
                "transform": {
                    "location": {
                        "x": -1503.4927978515625,
                        "y": 5781.173828125,
                        "z": 375.6838684082031
                    },
                    "rotation": {
                        "roll": 0.0003278661461081356,
                        "pitch": 0.2738085985183716,
                        "yaw": 156.409912109375
                    }
                },
                "velocity": {
                    "x": -4.668724060058594,
                    "y": 2.037537097930908,
                    "z": 0.02678482048213482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018263846868649125,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00014920506509952247,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571210861206055
                    }
                },
                "velocity": {
                    "x": 3.3384410926373675e-05,
                    "y": 3.942443072446622e-05,
                    "z": -0.00017517991364002228
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.586669921875,
                        "y": 5778.642578125,
                        "z": 376.54693603515625
                    },
                    "rotation": {
                        "roll": 3.3350562311795784e-09,
                        "pitch": 0.07690109312534332,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.68896484375,
                        "y": 5753.97509765625,
                        "z": 376.5821533203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.235666036605835,
                "transform": {
                    "location": {
                        "x": -1543.857177734375,
                        "y": 5798.7841796875,
                        "z": 375.9336242675781
                    },
                    "rotation": {
                        "roll": -0.0003662135568447411,
                        "pitch": 0.2909865379333496,
                        "yaw": 156.40098571777344
                    }
                },
                "velocity": {
                    "x": -2.9654295444488525,
                    "y": 1.2943997383117676,
                    "z": 0.017078207805752754
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.741647481918335,
                "transform": {
                    "location": {
                        "x": -1556.411865234375,
                        "y": 5804.2646484375,
                        "z": 375.9697570800781
                    },
                    "rotation": {
                        "roll": -0.0012512266403064132,
                        "pitch": 0.42769959568977356,
                        "yaw": 156.47421264648438
                    }
                },
                "velocity": {
                    "x": -3.4306185245513916,
                    "y": 1.493468999862671,
                    "z": 0.018241995945572853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059697151184082,
                "transform": {
                    "location": {
                        "x": -1564.287109375,
                        "y": 5735.26806640625,
                        "z": 376.2151794433594
                    },
                    "rotation": {
                        "roll": 0.0005366987315937877,
                        "pitch": 0.15549607574939728,
                        "yaw": -90.1407699584961
                    }
                },
                "velocity": {
                    "x": -0.019769327715039253,
                    "y": -8.059642791748047,
                    "z": 0.022067975252866745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.922513484954834,
                "transform": {
                    "location": {
                        "x": -1567.1864013671875,
                        "y": 5757.29541015625,
                        "z": 376.15155029296875
                    },
                    "rotation": {
                        "roll": 0.0010978470090776682,
                        "pitch": -0.21075230836868286,
                        "yaw": 89.84547424316406
                    }
                },
                "velocity": {
                    "x": 0.018480617552995682,
                    "y": 6.922465801239014,
                    "z": -0.01792004518210888
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.144123077392578,
                "transform": {
                    "location": {
                        "x": -1567.149658203125,
                        "y": 5771.92919921875,
                        "z": 376.11151123046875
                    },
                    "rotation": {
                        "roll": 0.0029231179505586624,
                        "pitch": -0.23126336932182312,
                        "yaw": 89.9543685913086
                    }
                },
                "velocity": {
                    "x": 0.009915605187416077,
                    "y": 4.144100189208984,
                    "z": -0.009495820850133896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.028529662638902664,
        "expert_target_speed": 0.4589209473304896,
        "target_point": [
            16.890604385310844,
            3.967820604850287
        ],
        "target_point_next": [
            36.84323003820191,
            50.90280621617519
        ]
    },
    "320": {
        "acceleration": [
            -0.013444274663925171,
            -2.3657751083374023,
            0.006257630884647369
        ],
        "angular_velocity": [
            -0.29976731538772583,
            0.0767236277461052,
            -1.7321544885635376
        ],
        "forward_vector": [
            0.01355496421456337,
            0.9998917579650879,
            -0.005728928837925196
        ],
        "right_vector": [
            -0.9999080896377563,
            0.013553641736507416,
            -0.00026960388640873134
        ],
        "location": [
            -1566.9735107421875,
            5794.26123046875,
            376.0578308105469
        ],
        "rotation": [
            0.015447419136762619,
            -0.32824522256851196,
            89.22332000732422
        ],
        "velocity": [
            0.05310780555009842,
            2.3317668437957764,
            -0.005522613413631916
        ],
        "speed": 2.3323715511975496,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.7413444519043,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.3834684978064615e-05,
                -5.1685528887901455e-05,
                -0.00012121877080062404
            ],
            "speed_kmh": 0.0004770072379730215,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.53837251663208,
                "transform": {
                    "location": {
                        "x": -1504.70654296875,
                        "y": 5781.70361328125,
                        "z": 375.69000244140625
                    },
                    "rotation": {
                        "roll": -0.00036621291656047106,
                        "pitch": 0.2694782614707947,
                        "yaw": 156.42416381835938
                    }
                },
                "velocity": {
                    "x": -5.0763163566589355,
                    "y": 2.2144851684570312,
                    "z": 0.025293588638305664
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001325020130025223,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2535024583339691,
                        "yaw": -23.57120704650879
                    }
                },
                "velocity": {
                    "x": 1.3834684978064615e-05,
                    "y": -5.1685528887901455e-05,
                    "z": -0.00012121877080062404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5989990234375,
                        "y": 5775.68408203125,
                        "z": 376.55084228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0774543434381485,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.69775390625,
                        "y": 5751.8916015625,
                        "z": 376.5855712890625
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.444770336151123,
                "transform": {
                    "location": {
                        "x": -1544.7374267578125,
                        "y": 5799.16845703125,
                        "z": 375.9377746582031
                    },
                    "rotation": {
                        "roll": -0.001251228037290275,
                        "pitch": 0.3930705487728119,
                        "yaw": 156.4112548828125
                    }
                },
                "velocity": {
                    "x": -4.074082374572754,
                    "y": 1.776892066001892,
                    "z": 0.02213437110185623
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.139771938323975,
                "transform": {
                    "location": {
                        "x": -1557.4393310546875,
                        "y": 5804.71240234375,
                        "z": 375.97576904296875
                    },
                    "rotation": {
                        "roll": -0.005920416675508022,
                        "pitch": 0.5053656697273254,
                        "yaw": 156.4745635986328
                    }
                },
                "velocity": {
                    "x": -4.71173620223999,
                    "y": 2.053218364715576,
                    "z": 0.03302425146102905
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000446319580078,
                "transform": {
                    "location": {
                        "x": -1564.2919921875,
                        "y": 5733.26025390625,
                        "z": 376.2207336425781
                    },
                    "rotation": {
                        "roll": 0.0005861311219632626,
                        "pitch": 0.15686210989952087,
                        "yaw": -90.14405059814453
                    }
                },
                "velocity": {
                    "x": -0.02029290609061718,
                    "y": -8.000391006469727,
                    "z": 0.021826552227139473
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.246055841445923,
                "transform": {
                    "location": {
                        "x": -1567.1827392578125,
                        "y": 5758.62353515625,
                        "z": 376.1473083496094
                    },
                    "rotation": {
                        "roll": -0.0006713967304676771,
                        "pitch": -0.6032422780990601,
                        "yaw": 89.83342742919922
                    }
                },
                "velocity": {
                    "x": 0.008687115274369717,
                    "y": 3.24603271484375,
                    "z": -0.008618192747235298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6331098079681396,
                "transform": {
                    "location": {
                        "x": -1567.1478271484375,
                        "y": 5772.8837890625,
                        "z": 376.1096496582031
                    },
                    "rotation": {
                        "roll": 0.0009576976299285889,
                        "pitch": -0.34206950664520264,
                        "yaw": 89.9111557006836
                    }
                },
                "velocity": {
                    "x": 0.00928587932139635,
                    "y": 3.633085250854492,
                    "z": -0.009678487665951252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04634089767932892,
        "expert_target_speed": 0,
        "target_point": [
            16.222106080780783,
            4.041402167864062
        ],
        "target_point_next": [
            35.98072595987179,
            51.05838936667628
        ]
    },
    "325": {
        "acceleration": [
            -0.037135928869247437,
            -2.0775461196899414,
            0.007207868620753288
        ],
        "angular_velocity": [
            -0.048837218433618546,
            0.02667294442653656,
            0.45180994272232056
        ],
        "forward_vector": [
            0.0165281780064106,
            0.9998424053192139,
            -0.006477787159383297
        ],
        "right_vector": [
            -0.9998633861541748,
            0.01652749814093113,
            -0.00015843332221265882
        ],
        "location": [
            -1566.9617919921875,
            5794.76904296875,
            376.05682373046875
        ],
        "rotation": [
            0.009077751077711582,
            -0.37115246057510376,
            89.05294036865234
        ],
        "velocity": [
            0.046143848448991776,
            1.7746278047561646,
            -0.0052947900258004665
        ],
        "speed": 1.7752276192543217,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.415828704833984,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -7.129311597964261e-06,
                -4.5875869545852765e-05,
                -0.00019043772772420198
            ],
            "speed_kmh": 0.0007056546465378323,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.329981803894043,
                "transform": {
                    "location": {
                        "x": -1506.0732421875,
                        "y": 5782.2998046875,
                        "z": 375.6966857910156
                    },
                    "rotation": {
                        "roll": -0.001739506726153195,
                        "pitch": 0.2724425792694092,
                        "yaw": 156.42440795898438
                    }
                },
                "velocity": {
                    "x": -5.80189847946167,
                    "y": 2.5309886932373047,
                    "z": 0.027210893109440804
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019601518579293042,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2535024583339691,
                        "yaw": -23.57120704650879
                    }
                },
                "velocity": {
                    "x": -7.129311597964261e-06,
                    "y": -4.5875869545852765e-05,
                    "z": -0.00019043772772420198
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6104736328125,
                        "y": 5772.9736328125,
                        "z": 376.5545654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0774543434381485,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7061767578125,
                        "y": 5749.80859375,
                        "z": 376.58905029296875
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.521157741546631,
                "transform": {
                    "location": {
                        "x": -1545.8502197265625,
                        "y": 5799.6552734375,
                        "z": 375.9444885253906
                    },
                    "rotation": {
                        "roll": -0.002746573416516185,
                        "pitch": 0.34704190492630005,
                        "yaw": 156.55062866210938
                    }
                },
                "velocity": {
                    "x": -4.146401405334473,
                    "y": 1.8021775484085083,
                    "z": 0.019500579684972763
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.779861927032471,
                "transform": {
                    "location": {
                        "x": -1558.7042236328125,
                        "y": 5805.26318359375,
                        "z": 375.98297119140625
                    },
                    "rotation": {
                        "roll": -0.0028076251037418842,
                        "pitch": 0.42528170347213745,
                        "yaw": 156.50808715820312
                    }
                },
                "velocity": {
                    "x": -5.299222469329834,
                    "y": 2.3074121475219727,
                    "z": 0.029880188405513763
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059186935424805,
                "transform": {
                    "location": {
                        "x": -1564.296875,
                        "y": 5731.25244140625,
                        "z": 376.2262268066406
                    },
                    "rotation": {
                        "roll": 0.0008248683880083263,
                        "pitch": 0.15585124492645264,
                        "yaw": -90.14482879638672
                    }
                },
                "velocity": {
                    "x": -0.02032686024904251,
                    "y": -8.059133529663086,
                    "z": 0.021471433341503143
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3516673445701599,
                "transform": {
                    "location": {
                        "x": -1567.18212890625,
                        "y": 5758.88232421875,
                        "z": 376.1466979980469
                    },
                    "rotation": {
                        "roll": 0.0003865690960083157,
                        "pitch": -0.6264376044273376,
                        "yaw": 89.87703704833984
                    }
                },
                "velocity": {
                    "x": 0.003603164106607437,
                    "y": 0.35164886713027954,
                    "z": 9.065627818927169e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6425893306732178,
                "transform": {
                    "location": {
                        "x": -1567.145751953125,
                        "y": 5773.8349609375,
                        "z": 376.1067199707031
                    },
                    "rotation": {
                        "roll": 0.0007049612468108535,
                        "pitch": -0.20209161937236786,
                        "yaw": 89.88509368896484
                    }
                },
                "velocity": {
                    "x": 0.009537434205412865,
                    "y": 3.6425654888153076,
                    "z": -0.009138107299804688
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06375361979007721,
        "expert_target_speed": 0,
        "target_point": [
            15.702085104463906,
            4.092927609036785
        ],
        "target_point_next": [
            35.32086628603866,
            51.16843684397944
        ]
    },
    "330": {
        "acceleration": [
            -0.030497536063194275,
            -1.542818546295166,
            0.017787553369998932
        ],
        "angular_velocity": [
            0.1505608707666397,
            0.0250607468187809,
            -1.6514060497283936
        ],
        "forward_vector": [
            0.019051656126976013,
            0.9997991323471069,
            -0.006220419891178608
        ],
        "right_vector": [
            -0.9998185038566589,
            0.019051477313041687,
            -8.813547174213454e-05
        ],
        "location": [
            -1566.9517822265625,
            5795.15185546875,
            376.0558166503906
        ],
        "rotation": [
            0.005049888510257006,
            -0.3564060926437378,
            88.90833282470703
        ],
        "velocity": [
            0.038258567452430725,
            1.3279615640640259,
            -0.0036745737306773663
        ],
        "speed": 1.328512564342124,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.17326354980469,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -1.7560756532475352e-05,
                1.9869207790179644e-06,
                9.525728819426149e-05
            ],
            "speed_kmh": 0.0003487781179471589,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.379710674285889,
                "transform": {
                    "location": {
                        "x": -1507.6590576171875,
                        "y": 5782.99169921875,
                        "z": 375.7043151855469
                    },
                    "rotation": {
                        "roll": -0.0013732914812862873,
                        "pitch": 0.28288593888282776,
                        "yaw": 156.4271240234375
                    }
                },
                "velocity": {
                    "x": -6.763824462890625,
                    "y": 2.951221227645874,
                    "z": 0.033208053559064865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.688280988484621e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0002229371457360685,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.57124137878418
                    }
                },
                "velocity": {
                    "x": -1.7560756532475352e-05,
                    "y": 1.9869207790179644e-06,
                    "z": 9.525728819426149e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6207275390625,
                        "y": 5770.4697265625,
                        "z": 376.55792236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0780007541179657,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.715087890625,
                        "y": 5747.72509765625,
                        "z": 376.5925598144531
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.422140121459961,
                "transform": {
                    "location": {
                        "x": -1546.79345703125,
                        "y": 5800.06884765625,
                        "z": 375.95013427734375
                    },
                    "rotation": {
                        "roll": 0.002026584930717945,
                        "pitch": 0.2935205399990082,
                        "yaw": 156.97805786132812
                    }
                },
                "velocity": {
                    "x": -4.0545573234558105,
                    "y": 1.7650432586669922,
                    "z": 0.022574977949261665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.263317108154297,
                "transform": {
                    "location": {
                        "x": -1560.133056640625,
                        "y": 5805.884765625,
                        "z": 375.9973449707031
                    },
                    "rotation": {
                        "roll": -0.2611998915672302,
                        "pitch": 0.8150327801704407,
                        "yaw": 156.47998046875
                    }
                },
                "velocity": {
                    "x": -6.651276111602783,
                    "y": 2.9176223278045654,
                    "z": 0.06149641051888466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000227928161621,
                "transform": {
                    "location": {
                        "x": -1564.3016357421875,
                        "y": 5729.24462890625,
                        "z": 376.2317810058594
                    },
                    "rotation": {
                        "roll": -0.00012207007239339873,
                        "pitch": 0.15693041682243347,
                        "yaw": -90.14468383789062
                    }
                },
                "velocity": {
                    "x": -0.02023336850106716,
                    "y": -8.000173568725586,
                    "z": 0.021580524742603302
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5076411962509155,
                "transform": {
                    "location": {
                        "x": -1567.1810302734375,
                        "y": 5759.138671875,
                        "z": 376.1466979980469
                    },
                    "rotation": {
                        "roll": 0.0004859651380684227,
                        "pitch": -0.12682977318763733,
                        "yaw": 89.81854248046875
                    }
                },
                "velocity": {
                    "x": 0.005385262425988913,
                    "y": 1.5076290369033813,
                    "z": -0.002779455156996846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.208481550216675,
                "transform": {
                    "location": {
                        "x": -1567.1439208984375,
                        "y": 5774.64990234375,
                        "z": 376.1051330566406
                    },
                    "rotation": {
                        "roll": 0.000749050872400403,
                        "pitch": -0.3137788772583008,
                        "yaw": 89.87023162841797
                    }
                },
                "velocity": {
                    "x": 0.008175482973456383,
                    "y": 3.20845890045166,
                    "z": -0.008830814622342587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07651034742593765,
        "expert_target_speed": 0.0,
        "target_point": [
            15.308760407480152,
            4.135300957187433
        ],
        "target_point_next": [
            34.8085418044169,
            51.260227166693184
        ]
    },
    "335": {
        "acceleration": [
            0.06970807909965515,
            0.05656719207763672,
            -0.004864500369876623
        ],
        "angular_velocity": [
            0.4739375710487366,
            -0.011423680931329727,
            0.4087797701358795
        ],
        "forward_vector": [
            0.021209506317973137,
            0.9997634887695312,
            -0.004812341183423996
        ],
        "right_vector": [
            -0.9997750520706177,
            0.021208910271525383,
            -0.00017494987696409225
        ],
        "location": [
            -1566.942626953125,
            5795.45654296875,
            376.0547180175781
        ],
        "rotation": [
            0.01002400554716587,
            -0.27572789788246155,
            88.78468322753906
        ],
        "velocity": [
            0.043313320726156235,
            1.172661304473877,
            -0.0020874785259366035
        ],
        "speed": 1.1734609404503848,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.9823112487793,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.829078584909439e-05,
                3.0856113880872726e-05,
                8.373238233616576e-05
            ],
            "speed_kmh": 0.00033701038430001233,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.217004776000977,
                "transform": {
                    "location": {
                        "x": -1509.4520263671875,
                        "y": 5783.7744140625,
                        "z": 375.7131042480469
                    },
                    "rotation": {
                        "roll": -0.0005798358470201492,
                        "pitch": 0.2786717116832733,
                        "yaw": 156.43064880371094
                    }
                },
                "velocity": {
                    "x": -7.531470775604248,
                    "y": 3.285524606704712,
                    "z": 0.037950314581394196
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.361399861518294e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0004519608337432146,
                        "pitch": -0.25363221764564514,
                        "yaw": -23.571239471435547
                    }
                },
                "velocity": {
                    "x": 2.829078584909439e-05,
                    "y": 3.0856113880872726e-05,
                    "z": 8.373238233616576e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.633056640625,
                        "y": 5767.51171875,
                        "z": 376.56195068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0780007541179657,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7235107421875,
                        "y": 5745.6416015625,
                        "z": 376.59619140625
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.176859378814697,
                "transform": {
                    "location": {
                        "x": -1547.8265380859375,
                        "y": 5800.51611328125,
                        "z": 375.9560852050781
                    },
                    "rotation": {
                        "roll": 0.0010491970460861921,
                        "pitch": 0.28248295187950134,
                        "yaw": 156.73500061035156
                    }
                },
                "velocity": {
                    "x": -3.8287734985351562,
                    "y": 1.6691786050796509,
                    "z": 0.022186459973454475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.438652992248535,
                "transform": {
                    "location": {
                        "x": -1561.9439697265625,
                        "y": 5806.67626953125,
                        "z": 376.0088195800781
                    },
                    "rotation": {
                        "roll": -0.24020381271839142,
                        "pitch": 0.7297988533973694,
                        "yaw": 156.4147186279297
                    }
                },
                "velocity": {
                    "x": -7.733339786529541,
                    "y": 3.376034736633301,
                    "z": 0.09328107535839081
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059518814086914,
                "transform": {
                    "location": {
                        "x": -1564.3065185546875,
                        "y": 5727.23681640625,
                        "z": 376.2373046875
                    },
                    "rotation": {
                        "roll": 0.0004395816649775952,
                        "pitch": 0.15738120675086975,
                        "yaw": -90.1446304321289
                    }
                },
                "velocity": {
                    "x": -0.020330946892499924,
                    "y": -8.059463500976562,
                    "z": 0.022076157853007317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.556288719177246,
                "transform": {
                    "location": {
                        "x": -1567.1802978515625,
                        "y": 5759.6484375,
                        "z": 376.1456298828125
                    },
                    "rotation": {
                        "roll": -0.0015258797211572528,
                        "pitch": -0.012635849416255951,
                        "yaw": 89.93937683105469
                    }
                },
                "velocity": {
                    "x": 0.004859978798776865,
                    "y": 2.556277275085449,
                    "z": -0.005874566733837128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9031009674072266,
                "transform": {
                    "location": {
                        "x": -1567.141845703125,
                        "y": 5775.45556640625,
                        "z": 376.1029357910156
                    },
                    "rotation": {
                        "roll": 0.00023346953094005585,
                        "pitch": -0.2636111378669739,
                        "yaw": 89.85953521728516
                    }
                },
                "velocity": {
                    "x": 0.007741713896393776,
                    "y": 2.9030792713165283,
                    "z": -0.008165006525814533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09165573120117188,
        "expert_target_speed": 0.0,
        "target_point": [
            14.994996905959349,
            4.170985407275099
        ],
        "target_point_next": [
            34.39314205929191,
            51.33783933447617
        ]
    },
    "340": {
        "acceleration": [
            0.09496241807937622,
            1.6372346878051758,
            0.011926079168915749
        ],
        "angular_velocity": [
            0.5996078848838806,
            -0.0827273577451706,
            -1.8432422876358032
        ],
        "forward_vector": [
            0.025056982412934303,
            0.9996839761734009,
            -0.0020004496909677982
        ],
        "right_vector": [
            -0.9996859431266785,
            0.025056440383195877,
            -0.00029551563784480095
        ],
        "location": [
            -1566.9302978515625,
            5795.7841796875,
            376.0533447265625
        ],
        "rotation": [
            0.01693183369934559,
            -0.11461739987134933,
            88.5641860961914
        ],
        "velocity": [
            0.06171051412820816,
            1.4770057201385498,
            -0.00202942849136889
        ],
        "speed": 1.478294316053459,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.78009796142578,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                5.017183411837323e-06,
                -2.6696872737375088e-05,
                -0.00034597935155034065
            ],
            "speed_kmh": 0.0012493587573948848,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.950323104858398,
                "transform": {
                    "location": {
                        "x": -1511.421875,
                        "y": 5784.6328125,
                        "z": 375.72296142578125
                    },
                    "rotation": {
                        "roll": -0.00030517770210281014,
                        "pitch": 0.28084370493888855,
                        "yaw": 156.43612670898438
                    }
                },
                "velocity": {
                    "x": -8.203926086425781,
                    "y": 3.5780107975006104,
                    "z": 0.04130249843001366
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00034704411518760026,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0003456149424891919,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.57124137878418
                    }
                },
                "velocity": {
                    "x": 5.017183411837323e-06,
                    "y": -2.6696872737375088e-05,
                    "z": -0.00034597935155034065
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.644775390625,
                        "y": 5764.71240234375,
                        "z": 376.56585693359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08324634283781052,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.732421875,
                        "y": 5743.55859375,
                        "z": 376.5999450683594
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.055177211761475,
                "transform": {
                    "location": {
                        "x": -1548.7421875,
                        "y": 5800.9140625,
                        "z": 375.9612731933594
                    },
                    "rotation": {
                        "roll": 0.0006464609759859741,
                        "pitch": 0.2784121632575989,
                        "yaw": 156.6073455810547
                    }
                },
                "velocity": {
                    "x": -3.716843366622925,
                    "y": 1.6214383840560913,
                    "z": 0.02181967720389366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.683754920959473,
                "transform": {
                    "location": {
                        "x": -1564.0213623046875,
                        "y": 5807.5830078125,
                        "z": 376.0218811035156
                    },
                    "rotation": {
                        "roll": -0.3274535536766052,
                        "pitch": 0.2286132425069809,
                        "yaw": 156.4606475830078
                    }
                },
                "velocity": {
                    "x": -8.876051902770996,
                    "y": 3.871785879135132,
                    "z": 0.009339055977761745
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.3221435546875,
                        "y": 5725.21337890625,
                        "z": 376.2425842285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.16088509559631348,
                        "yaw": -90.14043426513672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.080313682556152,
                "transform": {
                    "location": {
                        "x": -1567.1785888671875,
                        "y": 5760.484375,
                        "z": 376.14349365234375
                    },
                    "rotation": {
                        "roll": 0.0014175686519593,
                        "pitch": 0.06936739385128021,
                        "yaw": 89.91487884521484
                    }
                },
                "velocity": {
                    "x": 0.009557485580444336,
                    "y": 4.0802903175354,
                    "z": -0.009834317490458488
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3115150928497314,
                "transform": {
                    "location": {
                        "x": -1567.1402587890625,
                        "y": 5776.0830078125,
                        "z": 376.1017761230469
                    },
                    "rotation": {
                        "roll": -0.00012205226084915921,
                        "pitch": -0.37808510661125183,
                        "yaw": 89.85782623291016
                    }
                },
                "velocity": {
                    "x": 0.005725247319787741,
                    "y": 2.3115012645721436,
                    "z": -0.005563316401094198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11186030507087708,
        "expert_target_speed": 0.0,
        "target_point": [
            14.650985826372471,
            4.23279737749853
        ],
        "target_point_next": [
            33.86740733247184,
            51.47397951003629
        ]
    },
    "345": {
        "acceleration": [
            0.1272927224636078,
            1.9302105903625488,
            -0.0038759224116802216
        ],
        "angular_velocity": [
            0.329415887594223,
            0.007843646220862865,
            -0.31747764348983765
        ],
        "forward_vector": [
            0.029612459242343903,
            0.9995614290237427,
            -0.00019598005746956915
        ],
        "right_vector": [
            -0.9995613694190979,
            0.029612379148602486,
            -0.00039863892016001046
        ],
        "location": [
            -1566.91259765625,
            5796.20361328125,
            376.0520324707031
        ],
        "rotation": [
            0.022840328514575958,
            -0.011228830553591251,
            88.30308532714844
        ],
        "velocity": [
            0.08815780282020569,
            1.8862171173095703,
            -0.0035872268490493298
        ],
        "speed": 1.8882761481917076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.52458572387695,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -1.0544806627876824e-06,
                -6.607360774069093e-07,
                0.00026970694307237864
            ],
            "speed_kmh": 0.0009709553295668704,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.774903297424316,
                "transform": {
                    "location": {
                        "x": -1513.570556640625,
                        "y": 5785.5703125,
                        "z": 375.7336730957031
                    },
                    "rotation": {
                        "roll": -0.0006713944021612406,
                        "pitch": 0.28343233466148376,
                        "yaw": 156.4332275390625
                    }
                },
                "velocity": {
                    "x": -8.959518432617188,
                    "y": 3.9081523418426514,
                    "z": 0.04578449949622154
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00026970982435159385,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2532019317150116,
                        "yaw": -23.571269989013672
                    }
                },
                "velocity": {
                    "x": -1.0544806627876824e-06,
                    "y": -6.607360774069093e-07,
                    "z": 0.00026970694307237864
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6553955078125,
                        "y": 5762.10107421875,
                        "z": 376.5695495605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08324634283781052,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.74072265625,
                        "y": 5741.47509765625,
                        "z": 376.6037292480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.637357473373413,
                "transform": {
                    "location": {
                        "x": -1549.6302490234375,
                        "y": 5801.30126953125,
                        "z": 375.9664306640625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.26318082213401794,
                        "yaw": 156.5310516357422
                    }
                },
                "velocity": {
                    "x": -3.333646059036255,
                    "y": 1.4549179077148438,
                    "z": 0.01965748704969883
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.694839477539062,
                "transform": {
                    "location": {
                        "x": -1566.3802490234375,
                        "y": 5808.61279296875,
                        "z": 376.028076171875
                    },
                    "rotation": {
                        "roll": 0.015540208667516708,
                        "pitch": 0.36842721700668335,
                        "yaw": 156.45620727539062
                    }
                },
                "velocity": {
                    "x": -9.809624671936035,
                    "y": 4.260373592376709,
                    "z": 0.008573370054364204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.380859375,
                        "y": 5723.13037109375,
                        "z": 376.2464904785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.16088509559631348,
                        "yaw": -90.14043426513672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.418610095977783,
                "transform": {
                    "location": {
                        "x": -1567.175537109375,
                        "y": 5761.68603515625,
                        "z": 376.14080810546875
                    },
                    "rotation": {
                        "roll": 0.00038455528556369245,
                        "pitch": 0.07311717420816422,
                        "yaw": 89.88316345214844
                    }
                },
                "velocity": {
                    "x": 0.013542990200221539,
                    "y": 5.4185791015625,
                    "z": -0.012459592893719673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.95973801612854,
                "transform": {
                    "location": {
                        "x": -1567.138427734375,
                        "y": 5776.7255859375,
                        "z": 376.0990905761719
                    },
                    "rotation": {
                        "roll": -0.00024414618383161724,
                        "pitch": -0.0885055884718895,
                        "yaw": 89.85356140136719
                    }
                },
                "velocity": {
                    "x": 0.00741706183180213,
                    "y": 2.9597206115722656,
                    "z": -0.006912803277373314
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1418841928243637,
        "expert_target_speed": 0.0,
        "target_point": [
            14.21176028686279,
            4.304826156177597
        ],
        "target_point_next": [
            33.21258582404001,
            51.63313453166718
        ]
    },
    "350": {
        "acceleration": [
            0.17741873860359192,
            2.365536689758301,
            0.002251630648970604
        ],
        "angular_velocity": [
            0.25790324807167053,
            -0.024456743150949478,
            -2.331674814224243
        ],
        "forward_vector": [
            0.03574354201555252,
            0.9993603229522705,
            0.0011203285539522767
        ],
        "right_vector": [
            -0.9993608593940735,
            0.035744160413742065,
            -0.0005340695497579873
        ],
        "location": [
            -1566.8868408203125,
            5796.74609375,
            376.0505065917969
        ],
        "rotation": [
            0.03059994988143444,
            0.06419011205434799,
            87.95160675048828
        ],
        "velocity": [
            0.12764106690883636,
            2.439673662185669,
            -0.006087913177907467
        ],
        "speed": 2.443010401108448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.199546813964844,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.913152664201334e-05,
                2.1586864022538066e-05,
                4.7687361075077206e-05
            ],
            "speed_kmh": 0.00020063638183308576,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.587664604187012,
                "transform": {
                    "location": {
                        "x": -1515.906005859375,
                        "y": 5786.58935546875,
                        "z": 375.7454528808594
                    },
                    "rotation": {
                        "roll": -0.00027466504252515733,
                        "pitch": 0.28507840633392334,
                        "yaw": 156.43284606933594
                    }
                },
                "velocity": {
                    "x": -9.704475402832031,
                    "y": 4.233123302459717,
                    "z": 0.04959980025887489
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.5732329201418906e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2532019317150116,
                        "yaw": -23.571269989013672
                    }
                },
                "velocity": {
                    "x": 1.913152664201334e-05,
                    "y": 2.1586864022538066e-05,
                    "z": 4.7687361075077206e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6666259765625,
                        "y": 5759.3798828125,
                        "z": 376.5735778808594
                    },
                    "rotation": {
                        "roll": -3.335057119357998e-09,
                        "pitch": 0.0885055884718895,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7493896484375,
                        "y": 5739.3916015625,
                        "z": 376.6076354980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6235992908477783,
                "transform": {
                    "location": {
                        "x": -1550.4700927734375,
                        "y": 5801.66748046875,
                        "z": 375.9710998535156
                    },
                    "rotation": {
                        "roll": 0.0007780977757647634,
                        "pitch": 0.2891218960285187,
                        "yaw": 156.48614501953125
                    }
                },
                "velocity": {
                    "x": -3.320995807647705,
                    "y": 1.4495326280593872,
                    "z": 0.01771249808371067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.779662132263184,
                "transform": {
                    "location": {
                        "x": -1568.938720703125,
                        "y": 5809.7265625,
                        "z": 376.0391845703125
                    },
                    "rotation": {
                        "roll": 0.01364606898277998,
                        "pitch": 0.4900728762149811,
                        "yaw": 156.4530487060547
                    }
                },
                "velocity": {
                    "x": -10.798182487487793,
                    "y": 4.706978797912598,
                    "z": 0.06362081319093704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.41845703125,
                        "y": 5721.046875,
                        "z": 376.25115966796875
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16344641149044037,
                        "yaw": -90.14044189453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.45632266998291,
                "transform": {
                    "location": {
                        "x": -1567.172119140625,
                        "y": 5763.05126953125,
                        "z": 376.13702392578125
                    },
                    "rotation": {
                        "roll": 0.00012353714555501938,
                        "pitch": -0.07381384819746017,
                        "yaw": 89.86482238769531
                    }
                },
                "velocity": {
                    "x": 0.013003606349229813,
                    "y": 5.456289768218994,
                    "z": -0.013775463216006756
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.492239236831665,
                "transform": {
                    "location": {
                        "x": -1567.136474609375,
                        "y": 5777.435546875,
                        "z": 376.0978088378906
                    },
                    "rotation": {
                        "roll": -0.00030517225968651474,
                        "pitch": -0.18313102424144745,
                        "yaw": 89.85218048095703
                    }
                },
                "velocity": {
                    "x": 0.006400620564818382,
                    "y": 2.4922235012054443,
                    "z": -0.006112155970185995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18365846574306488,
        "expert_target_speed": 1.4853265806731453,
        "target_point": [
            13.642040013222642,
            4.398247155772219
        ],
        "target_point_next": [
            32.35227567172419,
            51.842184875812066
        ]
    },
    "355": {
        "acceleration": [
            0.2335873246192932,
            2.6282787322998047,
            0.0024635344743728638
        ],
        "angular_velocity": [
            0.16571664810180664,
            -0.05695192888379097,
            -1.2335273027420044
        ],
        "forward_vector": [
            0.043138448148965836,
            0.999066948890686,
            0.0020594580564647913
        ],
        "right_vector": [
            -0.9990687370300293,
            0.04314004257321358,
            -0.0007343331235460937
        ],
        "location": [
            -1566.8494873046875,
            5797.43798828125,
            376.0485534667969
        ],
        "rotation": [
            0.042074281722307205,
            0.11799833923578262,
            87.52758026123047
        ],
        "velocity": [
            0.1820436418056488,
            3.077343463897705,
            -0.00600854866206646
        ],
        "speed": 3.082723257497466,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.79391098022461,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                3.988817297795322e-06,
                -4.141831595916301e-05,
                -0.00023209718347061425
            ],
            "speed_kmh": 0.000848871222361643,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.360512733459473,
                "transform": {
                    "location": {
                        "x": -1518.4346923828125,
                        "y": 5787.6923828125,
                        "z": 375.75836181640625
                    },
                    "rotation": {
                        "roll": 0.0005405389238148928,
                        "pitch": 0.28902626037597656,
                        "yaw": 156.4329071044922
                    }
                },
                "velocity": {
                    "x": -10.412841796875,
                    "y": 4.542155742645264,
                    "z": 0.05283624678850174
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002357975608902052,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -3.0519371648551896e-05,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571269989013672
                    }
                },
                "velocity": {
                    "x": 3.988817297795322e-06,
                    "y": -4.141831595916301e-05,
                    "z": -0.00023209718347061425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6754150390625,
                        "y": 5757.2958984375,
                        "z": 376.5768127441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7584228515625,
                        "y": 5737.30859375,
                        "z": 376.6116027832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.415585994720459,
                "transform": {
                    "location": {
                        "x": -1551.2535400390625,
                        "y": 5802.0087890625,
                        "z": 375.97552490234375
                    },
                    "rotation": {
                        "roll": -0.0008544907323084772,
                        "pitch": 0.27852144837379456,
                        "yaw": 156.4624786376953
                    }
                },
                "velocity": {
                    "x": -3.130533456802368,
                    "y": 1.365886926651001,
                    "z": 0.018460359424352646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.763498306274414,
                "transform": {
                    "location": {
                        "x": -1571.658203125,
                        "y": 5810.91259765625,
                        "z": 376.05462646484375
                    },
                    "rotation": {
                        "roll": 0.003940180409699678,
                        "pitch": 0.33803287148475647,
                        "yaw": 156.43377685546875
                    }
                },
                "velocity": {
                    "x": -10.782424926757812,
                    "y": 4.70270299911499,
                    "z": 0.06154562905430794
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4540,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.4254150390625,
                        "y": 5718.96337890625,
                        "z": 376.25701904296875
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16344641149044037,
                        "yaw": -90.14044189453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.922100067138672,
                "transform": {
                    "location": {
                        "x": -1567.16845703125,
                        "y": 5764.6884765625,
                        "z": 376.13299560546875
                    },
                    "rotation": {
                        "roll": 0.00019602359679993242,
                        "pitch": 0.024035435169935226,
                        "yaw": 89.85262298583984
                    }
                },
                "velocity": {
                    "x": 0.017509689554572105,
                    "y": 6.922055721282959,
                    "z": -0.017425956204533577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3778529167175293,
                "transform": {
                    "location": {
                        "x": -1567.135009765625,
                        "y": 5778.015625,
                        "z": 376.09661865234375
                    },
                    "rotation": {
                        "roll": 4.116825220989995e-05,
                        "pitch": -0.2392888367176056,
                        "yaw": 89.8507308959961
                    }
                },
                "velocity": {
                    "x": 0.007162056863307953,
                    "y": 2.377835273742676,
                    "z": -0.005695381201803684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23754911124706268,
        "expert_target_speed": 4.0753268100080735,
        "target_point": [
            12.916249198049986,
            4.506574723342844
        ],
        "target_point_next": [
            31.274798177799013,
            52.08770358907951
        ]
    },
    "360": {
        "acceleration": [
            0.09101271629333496,
            2.3647308349609375,
            -0.024077799171209335
        ],
        "angular_velocity": [
            -0.016759272664785385,
            0.08663810044527054,
            -1.5558358430862427
        ],
        "forward_vector": [
            0.04985450208187103,
            0.9987533092498779,
            0.0025063727516680956
        ],
        "right_vector": [
            -0.9987562894821167,
            0.04985581338405609,
            -0.00046494576963596046
        ],
        "location": [
            -1566.80078125,
            5798.29345703125,
            376.0465087890625
        ],
        "rotation": [
            0.026639515534043312,
            0.14360472559928894,
            87.1423568725586
        ],
        "velocity": [
            0.21672900021076202,
            3.723621368408203,
            -0.009405869990587234
        ],
        "speed": 3.7299232639289692,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.303043365478516,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -7.838122655812185e-06,
                -1.1615268704190385e-05,
                0.0003997505991719663
            ],
            "speed_kmh": 0.0014399860147069161,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.881183624267578,
                "transform": {
                    "location": {
                        "x": -1520.999755859375,
                        "y": 5788.81103515625,
                        "z": 375.7716369628906
                    },
                    "rotation": {
                        "roll": 0.0006402269355021417,
                        "pitch": 0.26413023471832275,
                        "yaw": 156.4329071044922
                    }
                },
                "velocity": {
                    "x": -9.973490715026855,
                    "y": 4.350506782531738,
                    "z": 0.05217086523771286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003999961190856993,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -3.0519371648551896e-05,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571269989013672
                    }
                },
                "velocity": {
                    "x": -7.838122655812185e-06,
                    "y": -1.1615268704190385e-05,
                    "z": 0.0003997505991719663
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.683837890625,
                        "y": 5755.212890625,
                        "z": 376.58013916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7669677734375,
                        "y": 5735.22509765625,
                        "z": 376.6156921386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.5720629692077637,
                "transform": {
                    "location": {
                        "x": -1552.0977783203125,
                        "y": 5802.37744140625,
                        "z": 375.9800720214844
                    },
                    "rotation": {
                        "roll": 0.000495476124342531,
                        "pitch": 0.3110809624195099,
                        "yaw": 156.44760131835938
                    }
                },
                "velocity": {
                    "x": -3.273865222930908,
                    "y": 1.4286572933197021,
                    "z": 0.019479598850011826
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.531131744384766,
                "transform": {
                    "location": {
                        "x": -1574.318115234375,
                        "y": 5812.072265625,
                        "z": 376.0692443847656
                    },
                    "rotation": {
                        "roll": 0.0009140250040218234,
                        "pitch": 0.2729548215866089,
                        "yaw": 156.4398193359375
                    }
                },
                "velocity": {
                    "x": -10.569128036499023,
                    "y": 4.610551834106445,
                    "z": 0.057747144252061844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7980728149414062,
                "transform": {
                    "location": {
                        "x": -1567.164306640625,
                        "y": 5766.18505859375,
                        "z": 376.12835693359375
                    },
                    "rotation": {
                        "roll": -0.0003051810199394822,
                        "pitch": -0.47112593054771423,
                        "yaw": 89.84656524658203
                    }
                },
                "velocity": {
                    "x": 0.010401476174592972,
                    "y": 3.798034906387329,
                    "z": -0.013478603214025497
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0569770336151123,
                "transform": {
                    "location": {
                        "x": -1567.1329345703125,
                        "y": 5778.7177734375,
                        "z": 376.09381103515625
                    },
                    "rotation": {
                        "roll": 0.0007967809797264636,
                        "pitch": 0.0256132073700428,
                        "yaw": 89.84959411621094
                    }
                },
                "velocity": {
                    "x": 0.008885849267244339,
                    "y": 3.056957960128784,
                    "z": -0.006117191165685654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29513856768608093,
        "expert_target_speed": 4.737897082990556,
        "target_point": [
            12.028823690011276,
            4.5993125599178475
        ],
        "target_point_next": [
            30.067041617871602,
            52.30280130829663
        ]
    },
    "365": {
        "acceleration": [
            -0.23292958736419678,
            -2.071537971496582,
            0.012006573379039764
        ],
        "angular_velocity": [
            -1.2245875597000122,
            0.14688770473003387,
            0.8202736377716064
        ],
        "forward_vector": [
            0.05108952149748802,
            0.9986940622329712,
            0.00012218952178955078
        ],
        "right_vector": [
            -0.9986940622329712,
            0.05108949542045593,
            0.00020080232934560627
        ],
        "location": [
            -1566.75,
            5799.2529296875,
            376.0447082519531
        ],
        "rotation": [
            -0.011505126021802425,
            0.007000943645834923,
            87.0715103149414
        ],
        "velocity": [
            0.1846904307603836,
            3.746041774749756,
            -0.009256563149392605
        ],
        "speed": 3.750591891073295,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.76121139526367,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                5.712061920348788e-06,
                2.185707853641361e-05,
                -7.870927947806194e-05
            ],
            "speed_kmh": 0.00029479384714562704,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.231019020080566,
                "transform": {
                    "location": {
                        "x": -1523.4130859375,
                        "y": 5789.86376953125,
                        "z": 375.7843017578125
                    },
                    "rotation": {
                        "roll": -0.00030518052517436445,
                        "pitch": 0.2603189945220947,
                        "yaw": 156.4329376220703
                    }
                },
                "velocity": {
                    "x": -9.377556800842285,
                    "y": 4.090578079223633,
                    "z": 0.04864022135734558
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.1887177657336e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00024413829669356346,
                        "pitch": -0.25359809398651123,
                        "yaw": -23.571298599243164
                    }
                },
                "velocity": {
                    "x": 5.712061920348788e-06,
                    "y": 2.185707853641361e-05,
                    "z": -7.870927947806194e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6927490234375,
                        "y": 5753.12939453125,
                        "z": 376.58349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7757568359375,
                        "y": 5733.1416015625,
                        "z": 376.6197509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.249513626098633,
                "transform": {
                    "location": {
                        "x": -1552.853515625,
                        "y": 5802.70654296875,
                        "z": 375.98468017578125
                    },
                    "rotation": {
                        "roll": 0.0006589438416995108,
                        "pitch": 0.2710697054862976,
                        "yaw": 156.44088745117188
                    }
                },
                "velocity": {
                    "x": -2.978654623031616,
                    "y": 1.2987110614776611,
                    "z": 0.017458857968449593
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.589812278747559,
                "transform": {
                    "location": {
                        "x": -1576.9656982421875,
                        "y": 5813.2275390625,
                        "z": 376.083740234375
                    },
                    "rotation": {
                        "roll": 0.0014302429044619203,
                        "pitch": 0.2925984561443329,
                        "yaw": 156.4208526611328
                    }
                },
                "velocity": {
                    "x": -10.62234878540039,
                    "y": 4.635321140289307,
                    "z": 0.05699348449707031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.40500780940055847,
                "transform": {
                    "location": {
                        "x": -1567.1636962890625,
                        "y": 5766.4384765625,
                        "z": 376.12738037109375
                    },
                    "rotation": {
                        "roll": 7.868575630709529e-05,
                        "pitch": -0.6579247713088989,
                        "yaw": 89.8550796508789
                    }
                },
                "velocity": {
                    "x": 0.0007649979670532048,
                    "y": 0.40500688552856445,
                    "z": 0.00040860174340195954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2784626483917236,
                "transform": {
                    "location": {
                        "x": -1567.131103515625,
                        "y": 5779.484375,
                        "z": 376.09222412109375
                    },
                    "rotation": {
                        "roll": 3.912017564289272e-05,
                        "pitch": -0.019616302102804184,
                        "yaw": 89.84932708740234
                    }
                },
                "velocity": {
                    "x": 0.008593632839620113,
                    "y": 3.2784440517425537,
                    "z": -0.006987523753196001
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34641963243484497,
        "expert_target_speed": 4.793160594043263,
        "target_point": [
            11.062313678675928,
            4.615877576475411
        ],
        "target_point_next": [
            29.041535391269147,
            52.341633006736544
        ]
    },
    "370": {
        "acceleration": [
            -0.15629172325134277,
            -2.905721664428711,
            0.004784204065799713
        ],
        "angular_velocity": [
            -0.833666205406189,
            0.05559545010328293,
            -0.27402323484420776
        ],
        "forward_vector": [
            0.04927946254611015,
            0.9987728595733643,
            -0.004936913028359413
        ],
        "right_vector": [
            -0.9987849593162537,
            0.04928101971745491,
            0.00019440846517682076
        ],
        "location": [
            -1566.7099609375,
            5800.09619140625,
            376.0437927246094
        ],
        "rotation": [
            -0.011138919740915298,
            -0.282865434885025,
            87.1753158569336
        ],
        "velocity": [
            0.13835345208644867,
            3.0337343215942383,
            -0.008733987808227539
        ],
        "speed": 3.0368874874981935,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.291839599609375,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.1142976291012019e-05,
                3.0604132916778326e-05,
                0.00010975164332194254
            ],
            "speed_kmh": 0.0004121363597277425,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.625307083129883,
                "transform": {
                    "location": {
                        "x": -1525.6842041015625,
                        "y": 5790.85400390625,
                        "z": 375.7961120605469
                    },
                    "rotation": {
                        "roll": 9.904211037792265e-05,
                        "pitch": 0.2613503336906433,
                        "yaw": 156.43299865722656
                    }
                },
                "velocity": {
                    "x": -8.822381973266602,
                    "y": 3.8483519554138184,
                    "z": 0.04796426743268967
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011448232544353232,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00024413829669356346,
                        "pitch": -0.25359809398651123,
                        "yaw": -23.571298599243164
                    }
                },
                "velocity": {
                    "x": 1.1142976291012019e-05,
                    "y": 3.0604132916778326e-05,
                    "z": 0.00010975164332194254
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.701171875,
                        "y": 5751.0458984375,
                        "z": 376.58697509765625
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7843017578125,
                        "y": 5731.05859375,
                        "z": 376.6239318847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.079944610595703,
                "transform": {
                    "location": {
                        "x": -1553.6033935546875,
                        "y": 5803.0341796875,
                        "z": 375.9888610839844
                    },
                    "rotation": {
                        "roll": 0.0009570748661644757,
                        "pitch": 0.27985331416130066,
                        "yaw": 156.4352569580078
                    }
                },
                "velocity": {
                    "x": -2.8230507373809814,
                    "y": 1.2313178777694702,
                    "z": 0.017299622297286987
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.615713119506836,
                "transform": {
                    "location": {
                        "x": -1579.6260986328125,
                        "y": 5814.388671875,
                        "z": 376.09820556640625
                    },
                    "rotation": {
                        "roll": 0.0010080463252961636,
                        "pitch": 0.29284435510635376,
                        "yaw": 156.43063354492188
                    }
                },
                "velocity": {
                    "x": -10.645892143249512,
                    "y": 4.646138668060303,
                    "z": 0.056180886924266815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5788770914077759,
                "transform": {
                    "location": {
                        "x": -1567.1627197265625,
                        "y": 5766.7021484375,
                        "z": 376.12744140625
                    },
                    "rotation": {
                        "roll": 0.00022496319434139878,
                        "pitch": -0.1230185329914093,
                        "yaw": 89.86614227294922
                    }
                },
                "velocity": {
                    "x": 0.004605904687196016,
                    "y": 1.5788686275482178,
                    "z": -0.002301826374605298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2474100589752197,
                "transform": {
                    "location": {
                        "x": -1567.1290283203125,
                        "y": 5780.33935546875,
                        "z": 376.09039306640625
                    },
                    "rotation": {
                        "roll": 0.0005787453847005963,
                        "pitch": -0.05758532136678696,
                        "yaw": 89.8493881225586
                    }
                },
                "velocity": {
                    "x": 0.008546626195311546,
                    "y": 3.2473859786987305,
                    "z": -0.009098176844418049
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36579629778862,
        "expert_target_speed": 4.132576703255009,
        "target_point": [
            10.226456781855326,
            4.594242599074336
        ],
        "target_point_next": [
            28.292206699834864,
            52.28731153661184
        ]
    },
    "375": {
        "acceleration": [
            -0.12787863612174988,
            -2.520723342895508,
            -0.014075851067900658
        ],
        "angular_velocity": [
            -0.1766728311777115,
            -0.04065834358334541,
            1.2351455688476562
        ],
        "forward_vector": [
            0.04748206213116646,
            0.9988484382629395,
            -0.006868785247206688
        ],
        "right_vector": [
            -0.9988720417022705,
            0.04748351126909256,
            4.793610060005449e-05
        ],
        "location": [
            -1566.6796875,
            5800.76416015625,
            376.04248046875
        ],
        "rotation": [
            -0.0027466011233627796,
            -0.39355549216270447,
            87.27838897705078
        ],
        "velocity": [
            0.1032436415553093,
            2.3624815940856934,
            -0.006083545740693808
        ],
        "speed": 2.3647364614086026,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.92600631713867,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -3.0865259759593755e-05,
                -5.2369283366715536e-05,
                -0.0005443504196591675
            ],
            "speed_kmh": 0.0019718425667040284,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.134587287902832,
                "transform": {
                    "location": {
                        "x": -1527.8304443359375,
                        "y": 5791.791015625,
                        "z": 375.8074645996094
                    },
                    "rotation": {
                        "roll": 0.0004810499376617372,
                        "pitch": 0.2663705348968506,
                        "yaw": 156.4281463623047
                    }
                },
                "velocity": {
                    "x": -8.372244834899902,
                    "y": 3.6529757976531982,
                    "z": 0.04445071145892143
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005477340309880674,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00026468574651516974,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.571331024169922
                    }
                },
                "velocity": {
                    "x": -3.0865259759593755e-05,
                    "y": -5.2369283366715536e-05,
                    "z": -0.0005443504196591675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7100830078125,
                        "y": 5748.962890625,
                        "z": 376.5904541015625
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.792724609375,
                        "y": 5728.97509765625,
                        "z": 376.62811279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0424692630767822,
                "transform": {
                    "location": {
                        "x": -1554.2841796875,
                        "y": 5803.3310546875,
                        "z": 375.99267578125
                    },
                    "rotation": {
                        "roll": -0.00012207117106299847,
                        "pitch": 0.2891902029514313,
                        "yaw": 156.42947387695312
                    }
                },
                "velocity": {
                    "x": -2.7886860370635986,
                    "y": 1.216373324394226,
                    "z": 0.016922054812312126
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.600004196166992,
                "transform": {
                    "location": {
                        "x": -1582.28564453125,
                        "y": 5815.54931640625,
                        "z": 376.1125183105469
                    },
                    "rotation": {
                        "roll": -0.000762936077080667,
                        "pitch": 0.2835552990436554,
                        "yaw": 156.41786193847656
                    }
                },
                "velocity": {
                    "x": -10.631752967834473,
                    "y": 4.63926887512207,
                    "z": 0.05585033446550369
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2567856311798096,
                "transform": {
                    "location": {
                        "x": -1567.161865234375,
                        "y": 5767.20166015625,
                        "z": 376.12640380859375
                    },
                    "rotation": {
                        "roll": 0.00042385704000480473,
                        "pitch": -0.045372944325208664,
                        "yaw": 89.85513305664062
                    }
                },
                "velocity": {
                    "x": 0.005634011700749397,
                    "y": 2.2567687034606934,
                    "z": -0.006618022918701172
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.822380542755127,
                "transform": {
                    "location": {
                        "x": -1567.127197265625,
                        "y": 5781.05908203125,
                        "z": 376.0892639160156
                    },
                    "rotation": {
                        "roll": -6.103211853769608e-05,
                        "pitch": -0.2630578875541687,
                        "yaw": 89.8492202758789
                    }
                },
                "velocity": {
                    "x": 0.007422145456075668,
                    "y": 2.82236385345459,
                    "z": -0.006210736930370331
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40336111187934875,
        "expert_target_speed": 3.49378653996664,
        "target_point": [
            9.566045336840673,
            4.57437580632307
        ],
        "target_point_next": [
            27.71749134402029,
            52.2348956590075
        ]
    },
    "380": {
        "acceleration": [
            -0.09331077337265015,
            -2.111647129058838,
            -0.006363680586218834
        ],
        "angular_velocity": [
            0.06150108948349953,
            -0.0021141734905540943,
            -0.8082758784294128
        ],
        "forward_vector": [
            0.04634639993309975,
            0.9989008903503418,
            -0.006996573880314827
        ],
        "right_vector": [
            -0.9989253878593445,
            0.046347249299287796,
            -4.113255999982357e-05
        ],
        "location": [
            -1566.6571044921875,
            5801.27880859375,
            376.0413513183594
        ],
        "rotation": [
            0.0023567797616124153,
            -0.400877445936203,
            87.3435287475586
        ],
        "velocity": [
            0.07611729204654694,
            1.79136061668396,
            -0.005848178640007973
        ],
        "speed": 1.7929770498126396,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.64793395996094,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -2.0205861801514402e-05,
                -4.1367336962139234e-05,
                0.00024543842300772667
            ],
            "speed_kmh": 0.0008989882122000995,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.603291511535645,
                "transform": {
                    "location": {
                        "x": -1529.8599853515625,
                        "y": 5792.6767578125,
                        "z": 375.8182067871094
                    },
                    "rotation": {
                        "roll": 3.335090204004132e-09,
                        "pitch": 0.2690889537334442,
                        "yaw": 156.42665100097656
                    }
                },
                "velocity": {
                    "x": -7.885250568389893,
                    "y": 3.4405717849731445,
                    "z": 0.04374322667717934
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024971895618364215,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00021361556719057262,
                        "pitch": -0.2532634139060974,
                        "yaw": -23.57132911682129
                    }
                },
                "velocity": {
                    "x": -2.0205861801514402e-05,
                    "y": -4.1367336962139234e-05,
                    "z": 0.00024543842300772667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7183837890625,
                        "y": 5746.87939453125,
                        "z": 376.5939636230469
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.801513671875,
                        "y": 5726.8916015625,
                        "z": 376.63232421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.688061237335205,
                "transform": {
                    "location": {
                        "x": -1554.9476318359375,
                        "y": 5803.62060546875,
                        "z": 375.9966735839844
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": 0.2727362811565399,
                        "yaw": 156.42568969726562
                    }
                },
                "velocity": {
                    "x": -2.463653564453125,
                    "y": 1.0751205682754517,
                    "z": 0.014164275489747524
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.5991849899292,
                "transform": {
                    "location": {
                        "x": -1584.9429931640625,
                        "y": 5816.70947265625,
                        "z": 376.1268005371094
                    },
                    "rotation": {
                        "roll": 0.0002346572291571647,
                        "pitch": 0.2847232520580292,
                        "yaw": 156.43577575683594
                    }
                },
                "velocity": {
                    "x": -10.631092071533203,
                    "y": 4.638720989227295,
                    "z": 0.05684587359428406
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.37835240364074707,
                "transform": {
                    "location": {
                        "x": -1567.161376953125,
                        "y": 5767.435546875,
                        "z": 376.1253967285156
                    },
                    "rotation": {
                        "roll": -0.0010986414272338152,
                        "pitch": -0.35922011733055115,
                        "yaw": 89.8864517211914
                    }
                },
                "velocity": {
                    "x": 0.0012337069492787123,
                    "y": 0.3783477246761322,
                    "z": -0.0014179610880091786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.732027292251587,
                "transform": {
                    "location": {
                        "x": -1567.1251220703125,
                        "y": 5781.775390625,
                        "z": 376.0873718261719
                    },
                    "rotation": {
                        "roll": -0.0003051793610211462,
                        "pitch": -0.20629902184009552,
                        "yaw": 89.84912872314453
                    }
                },
                "velocity": {
                    "x": 0.007115010637789965,
                    "y": 2.732011556625366,
                    "z": -0.00594610208645463
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4063143730163574,
        "expert_target_speed": 2.94218574792443,
        "target_point": [
            9.056098250059346,
            4.562202220955827
        ],
        "target_point_next": [
            27.261723391046743,
            52.20205274554847
        ]
    },
    "385": {
        "acceleration": [
            -0.0766366720199585,
            -1.5949559211730957,
            0.005809208378195763
        ],
        "angular_velocity": [
            0.17307260632514954,
            0.027920585125684738,
            1.3652431964874268
        ],
        "forward_vector": [
            0.04516206309199333,
            0.9989588260650635,
            -0.006453826557844877
        ],
        "right_vector": [
            -0.9989796280860901,
            0.04516245424747467,
            -8.515081572113559e-05
        ],
        "location": [
            -1566.640869140625,
            5801.6640625,
            376.04022216796875
        ],
        "rotation": [
            0.004878883715718985,
            -0.3697795867919922,
            87.41146850585938
        ],
        "velocity": [
            0.05477416515350342,
            1.3320565223693848,
            -0.004125690553337336
        ],
        "speed": 1.3331822035847474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.4417610168457,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.135410795744974e-05,
                -2.3677366698393598e-05,
                0.00021605222718790174
            ],
            "speed_kmh": 0.0007862121464292739,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1500.1275634765625,
                        "y": 5779.705078125,
                        "z": 375.85845947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.176138877868652,
                "transform": {
                    "location": {
                        "x": -1531.7796630859375,
                        "y": 5793.51416015625,
                        "z": 375.82843017578125
                    },
                    "rotation": {
                        "roll": -0.0002136292023351416,
                        "pitch": 0.2698197662830353,
                        "yaw": 156.42654418945312
                    }
                },
                "velocity": {
                    "x": -7.4937310218811035,
                    "y": 3.2697978019714355,
                    "z": 0.040744371712207794
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002183922624681145,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00021361556719057262,
                        "pitch": -0.2532634139060974,
                        "yaw": -23.57132911682129
                    }
                },
                "velocity": {
                    "x": 2.135410795744974e-05,
                    "y": -2.3677366698393598e-05,
                    "z": 0.00021605222718790174
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.72705078125,
                        "y": 5744.7958984375,
                        "z": 376.59771728515625
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8099365234375,
                        "y": 5724.80859375,
                        "z": 376.6365661621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9519541263580322,
                "transform": {
                    "location": {
                        "x": -1555.5772705078125,
                        "y": 5803.8955078125,
                        "z": 375.9999084472656
                    },
                    "rotation": {
                        "roll": -0.0030212420970201492,
                        "pitch": 0.3095851242542267,
                        "yaw": 156.42555236816406
                    }
                },
                "velocity": {
                    "x": -2.705549955368042,
                    "y": 1.1806061267852783,
                    "z": 0.014206571504473686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.602023124694824,
                "transform": {
                    "location": {
                        "x": -1587.6011962890625,
                        "y": 5817.86962890625,
                        "z": 376.1410217285156
                    },
                    "rotation": {
                        "roll": 0.00032318400917574763,
                        "pitch": 0.2852218449115753,
                        "yaw": 156.4196319580078
                    }
                },
                "velocity": {
                    "x": -10.633841514587402,
                    "y": 4.639524936676025,
                    "z": 0.056266698986291885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4056190252304077,
                "transform": {
                    "location": {
                        "x": -1567.1607666015625,
                        "y": 5767.67919921875,
                        "z": 376.1251220703125
                    },
                    "rotation": {
                        "roll": 0.00038524894625879824,
                        "pitch": -0.07135498523712158,
                        "yaw": 89.88499450683594
                    }
                },
                "velocity": {
                    "x": 0.0031635966151952744,
                    "y": 1.405613660812378,
                    "z": -0.0022774504031986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.522965431213379,
                "transform": {
                    "location": {
                        "x": -1567.123291015625,
                        "y": 5782.4560546875,
                        "z": 376.0857849121094
                    },
                    "rotation": {
                        "roll": -0.00018311571329832077,
                        "pitch": -0.2146933227777481,
                        "yaw": 89.84916687011719
                    }
                },
                "velocity": {
                    "x": 0.006620503030717373,
                    "y": 2.5229501724243164,
                    "z": -0.005683746188879013
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4424687922000885,
        "expert_target_speed": 2.4949231461609,
        "target_point": [
            8.675912465898977,
            4.550270839971741
        ],
        "target_point_next": [
            26.938066017717446,
            52.16848051263255
        ]
    },
    "390": {
        "acceleration": [
            -0.04574604332447052,
            -1.237328052520752,
            -0.0021549221128225327
        ],
        "angular_velocity": [
            0.1777176409959793,
            -0.049435026943683624,
            -1.1099183559417725
        ],
        "forward_vector": [
            0.04468034580349922,
            0.9989855885505676,
            -0.005610674619674683
        ],
        "right_vector": [
            -0.9990013241767883,
            0.0446803942322731,
            -0.0001169114766526036
        ],
        "location": [
            -1566.62890625,
            5801.953125,
            376.0393371582031
        ],
        "rotation": [
            0.00669863959774375,
            -0.32146966457366943,
            87.4391098022461
        ],
        "velocity": [
            0.04063872620463371,
            0.9983835220336914,
            -0.0023690317757427692
        ],
        "speed": 0.9992102697310179,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.288330078125,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                3.218129222659627e-06,
                -3.516269862302579e-05,
                0.00043177412590011954
            ],
            "speed_kmh": 0.0015595757920503252,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2319800853729248,
                "transform": {
                    "location": {
                        "x": -1500.677734375,
                        "y": 5779.94482421875,
                        "z": 375.71142578125
                    },
                    "rotation": {
                        "roll": 0.001125294715166092,
                        "pitch": 0.2560228109359741,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": -0.0009653752786107361,
                    "y": 0.00033427737071178854,
                    "z": -0.23197783529758453
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.692727565765381,
                "transform": {
                    "location": {
                        "x": -1533.5953369140625,
                        "y": 5794.306640625,
                        "z": 375.8382873535156
                    },
                    "rotation": {
                        "roll": -0.00012207101099193096,
                        "pitch": 0.27358320355415344,
                        "yaw": 156.4265899658203
                    }
                },
                "velocity": {
                    "x": -7.050663948059082,
                    "y": 3.0764780044555664,
                    "z": 0.03842724859714508
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004332154931034893,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0003473691758699715,
                        "pitch": -0.2532360851764679,
                        "yaw": -23.571331024169922
                    }
                },
                "velocity": {
                    "x": 3.218129222659627e-06,
                    "y": -3.516269862302579e-05,
                    "z": 0.00043177412590011954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7357177734375,
                        "y": 5742.712890625,
                        "z": 376.6014709472656
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.81884765625,
                        "y": 5722.72509765625,
                        "z": 376.64093017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.162642955780029,
                "transform": {
                    "location": {
                        "x": -1556.3895263671875,
                        "y": 5804.25,
                        "z": 376.003662109375
                    },
                    "rotation": {
                        "roll": -0.004089355934411287,
                        "pitch": 0.4019634425640106,
                        "yaw": 156.42398071289062
                    }
                },
                "velocity": {
                    "x": -3.8151328563690186,
                    "y": 1.664909839630127,
                    "z": 0.020818909630179405
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.601351737976074,
                "transform": {
                    "location": {
                        "x": -1590.2593994140625,
                        "y": 5819.02978515625,
                        "z": 376.1551818847656
                    },
                    "rotation": {
                        "roll": -0.0004272454825695604,
                        "pitch": 0.2817384600639343,
                        "yaw": 156.44407653808594
                    }
                },
                "velocity": {
                    "x": -10.634073257446289,
                    "y": 4.637308120727539,
                    "z": 0.05673137679696083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.233309268951416,
                "transform": {
                    "location": {
                        "x": -1567.1593017578125,
                        "y": 5768.16748046875,
                        "z": 376.1240234375
                    },
                    "rotation": {
                        "roll": 0.0013671718770638108,
                        "pitch": -0.02585226483643055,
                        "yaw": 89.79444885253906
                    }
                },
                "velocity": {
                    "x": 0.007247917354106903,
                    "y": 2.2332890033721924,
                    "z": -0.006182136479765177
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9322315454483032,
                "transform": {
                    "location": {
                        "x": -1567.121826171875,
                        "y": 5782.99609375,
                        "z": 376.08502197265625
                    },
                    "rotation": {
                        "roll": -0.0005187968490645289,
                        "pitch": -0.3430803716182709,
                        "yaw": 89.84908294677734
                    }
                },
                "velocity": {
                    "x": 0.005080434028059244,
                    "y": 1.932216763496399,
                    "z": -0.0056116292253136635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4574103355407715,
        "expert_target_speed": 2.1691610794033345,
        "target_point": [
            8.388801067994171,
            4.545115388312304
        ],
        "target_point_next": [
            26.67395379991269,
            52.15449822772848
        ]
    },
    "395": {
        "acceleration": [
            -0.06739616394042969,
            -0.9450352191925049,
            9.574927389621735e-05
        ],
        "angular_velocity": [
            0.12363260984420776,
            0.001036257715895772,
            1.4262439012527466
        ],
        "forward_vector": [
            0.04388343170285225,
            0.999024510383606,
            -0.0049140253104269505
        ],
        "right_vector": [
            -0.9990366101264954,
            0.04388340935111046,
            -0.00011343182268319651
        ],
        "location": [
            -1566.6201171875,
            5802.16796875,
            376.0387268066406
        ],
        "rotation": [
            0.006499243434518576,
            -0.28155404329299927,
            87.48482513427734
        ],
        "velocity": [
            0.028504934161901474,
            0.7396150827407837,
            -0.002427453873679042
        ],
        "speed": 0.740164172254528,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.175018310546875,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.9194334527128376e-05,
                4.393104518385371e-06,
                -0.00013406493235379457
            ],
            "speed_kmh": 0.00048781166242956996,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024315256625413895,
                "transform": {
                    "location": {
                        "x": -1500.677734375,
                        "y": 5779.94482421875,
                        "z": 375.7049560546875
                    },
                    "rotation": {
                        "roll": 0.0007789761875756085,
                        "pitch": 0.2564326226711273,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 0.00016785759362392128,
                    "y": 6.548815872520208e-05,
                    "z": 0.02431458979845047
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.3215789794921875,
                "transform": {
                    "location": {
                        "x": -1535.313232421875,
                        "y": 5795.05615234375,
                        "z": 375.8475341796875
                    },
                    "rotation": {
                        "roll": -0.0014038169756531715,
                        "pitch": 0.27716904878616333,
                        "yaw": 156.4267578125
                    }
                },
                "velocity": {
                    "x": -6.710495948791504,
                    "y": 2.9280285835266113,
                    "z": 0.03759318217635155
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013550324365496635,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": 1.9194334527128376e-05,
                    "y": 4.393104518385371e-06,
                    "z": -0.00013406493235379457
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.744140625,
                        "y": 5740.62939453125,
                        "z": 376.6053466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8272705078125,
                        "y": 5720.6416015625,
                        "z": 376.645263671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12185056507587433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.354308128356934,
                "transform": {
                    "location": {
                        "x": -1557.4947509765625,
                        "y": 5804.732421875,
                        "z": 376.0100402832031
                    },
                    "rotation": {
                        "roll": -0.009643551893532276,
                        "pitch": 0.4307253658771515,
                        "yaw": 156.41871643066406
                    }
                },
                "velocity": {
                    "x": -4.907208442687988,
                    "y": 2.1417322158813477,
                    "z": 0.030044088140130043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.601278305053711,
                "transform": {
                    "location": {
                        "x": -1592.91748046875,
                        "y": 5820.18994140625,
                        "z": 376.1692810058594
                    },
                    "rotation": {
                        "roll": -0.0006713810726068914,
                        "pitch": 0.28227803111076355,
                        "yaw": 156.4302520751953
                    }
                },
                "velocity": {
                    "x": -10.634000778198242,
                    "y": 4.637288570404053,
                    "z": 0.05701195448637009
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6807022094726562,
                "transform": {
                    "location": {
                        "x": -1567.1571044921875,
                        "y": 5768.6328125,
                        "z": 376.1226806640625
                    },
                    "rotation": {
                        "roll": 0.001472846488468349,
                        "pitch": -0.1754402220249176,
                        "yaw": 89.6442642211914
                    }
                },
                "velocity": {
                    "x": 0.007324070204049349,
                    "y": 1.6806761026382446,
                    "z": -0.005830936133861542
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.847569465637207,
                "transform": {
                    "location": {
                        "x": -1567.120849609375,
                        "y": 5783.4580078125,
                        "z": 376.08355712890625
                    },
                    "rotation": {
                        "roll": -0.0008239801973104477,
                        "pitch": -0.2625114619731903,
                        "yaw": 89.8499526977539
                    }
                },
                "velocity": {
                    "x": 0.004288834985345602,
                    "y": 1.847555160522461,
                    "z": -0.005886239930987358
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.47366592288017273,
        "expert_target_speed": 0,
        "target_point": [
            8.177397452978624,
            4.537782355523058
        ],
        "target_point_next": [
            26.500479289452475,
            52.13258056702475
        ]
    },
    "400": {
        "acceleration": [
            -0.0496157631278038,
            -0.6680905818939209,
            -0.002076909877359867
        ],
        "angular_velocity": [
            0.12858733534812927,
            -0.013310530222952366,
            -1.1037788391113281
        ],
        "forward_vector": [
            0.04318290948867798,
            0.9990577101707458,
            -0.0043477872386574745
        ],
        "right_vector": [
            -0.9990671873092651,
            0.043183133006095886,
            -4.303198875277303e-05
        ],
        "location": [
            -1566.614501953125,
            5802.326171875,
            376.03826904296875
        ],
        "rotation": [
            0.0024655747693032026,
            -0.2491106390953064,
            87.52500915527344
        ],
        "velocity": [
            0.01605634018778801,
            0.5413437485694885,
            -0.0017437075730413198
        ],
        "speed": 0.5415818130028847,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.091312408447266,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.0142606445006095e-05,
                4.294253812986426e-06,
                -0.0001868427498266101
            ],
            "speed_kmh": 0.0006767078717687525,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5830428004264832,
                "transform": {
                    "location": {
                        "x": -1500.7017822265625,
                        "y": 5779.95556640625,
                        "z": 375.70843505859375
                    },
                    "rotation": {
                        "roll": -3.0516150218318217e-05,
                        "pitch": 0.298226535320282,
                        "yaw": 156.42864990234375
                    }
                },
                "velocity": {
                    "x": -0.5343306660652161,
                    "y": 0.23312783241271973,
                    "z": 0.009001999162137508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.575116157531738,
                "transform": {
                    "location": {
                        "x": -1536.9293212890625,
                        "y": 5795.76123046875,
                        "z": 375.8564453125
                    },
                    "rotation": {
                        "roll": -0.00039672566344961524,
                        "pitch": 0.27048230171203613,
                        "yaw": 156.42868041992188
                    }
                },
                "velocity": {
                    "x": -6.0264716148376465,
                    "y": 2.6292123794555664,
                    "z": 0.03213166072964668
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001879744086181745,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": 2.0142606445006095e-05,
                    "y": 4.294253812986426e-06,
                    "z": -0.0001868427498266101
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7530517578125,
                        "y": 5738.5458984375,
                        "z": 376.6092224121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.836181640625,
                        "y": 5718.55859375,
                        "z": 376.6496276855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12185056507587433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.573252201080322,
                "transform": {
                    "location": {
                        "x": -1558.7274169921875,
                        "y": 5805.27099609375,
                        "z": 376.0174865722656
                    },
                    "rotation": {
                        "roll": -0.00219725607894361,
                        "pitch": 0.35847562551498413,
                        "yaw": 156.5284423828125
                    }
                },
                "velocity": {
                    "x": -5.108436584472656,
                    "y": 2.22804856300354,
                    "z": 0.02852930873632431
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.601242065429688,
                "transform": {
                    "location": {
                        "x": -1595.5758056640625,
                        "y": 5821.35009765625,
                        "z": 376.1833801269531
                    },
                    "rotation": {
                        "roll": -0.0003356972010806203,
                        "pitch": 0.2823258638381958,
                        "yaw": 156.4474639892578
                    }
                },
                "velocity": {
                    "x": -10.633955001831055,
                    "y": 4.637302398681641,
                    "z": 0.057057712227106094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.231511116027832,
                "transform": {
                    "location": {
                        "x": -1567.1549072265625,
                        "y": 5769.13671875,
                        "z": 376.1214294433594
                    },
                    "rotation": {
                        "roll": 0.0008470177999697626,
                        "pitch": -0.08978283405303955,
                        "yaw": 89.59571075439453
                    }
                },
                "velocity": {
                    "x": 0.010066716000437737,
                    "y": 2.231480121612549,
                    "z": -0.0060007283464074135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.24601411819458,
                "transform": {
                    "location": {
                        "x": -1567.11962890625,
                        "y": 5783.9921875,
                        "z": 376.0814514160156
                    },
                    "rotation": {
                        "roll": -9.155392763204873e-05,
                        "pitch": -0.05932702124118805,
                        "yaw": 89.84998321533203
                    }
                },
                "velocity": {
                    "x": 0.005871174857020378,
                    "y": 2.246000051498413,
                    "z": -0.005332469940185547
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.47577565908432007,
        "expert_target_speed": 0,
        "target_point": [
            8.022272771409966,
            4.5308371761646695
        ],
        "target_point_next": [
            26.37865498512362,
            52.112802003226406
        ]
    },
    "405": {
        "acceleration": [
            -0.024463078007102013,
            -0.4662233591079712,
            0.018439099192619324
        ],
        "angular_velocity": [
            0.11424674093723297,
            -0.02163730561733246,
            1.7054853439331055
        ],
        "forward_vector": [
            0.04156845808029175,
            0.9991281032562256,
            -0.003893007757142186
        ],
        "right_vector": [
            -0.9991356730461121,
            0.041568584740161896,
            -4.785786950378679e-05
        ],
        "location": [
            -1566.611572265625,
            5802.44091796875,
            376.0378723144531
        ],
        "rotation": [
            0.0027420748956501484,
            -0.2230534702539444,
            87.61759948730469
        ],
        "velocity": [
            0.007180900778621435,
            0.3927994966506958,
            -0.0011981964344158769
        ],
        "speed": 0.39286512940834084,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.029884338378906,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                9.867846529232338e-06,
                -3.15346842398867e-05,
                0.00013229224714450538
            ],
            "speed_kmh": 0.0004908827962993881,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6744128465652466,
                "transform": {
                    "location": {
                        "x": -1500.982666015625,
                        "y": 5780.078125,
                        "z": 375.7099914550781
                    },
                    "rotation": {
                        "roll": 0.0002516680979169905,
                        "pitch": 0.3599509596824646,
                        "yaw": 156.43907165527344
                    }
                },
                "velocity": {
                    "x": -1.534563660621643,
                    "y": 0.6698282957077026,
                    "z": 0.010152129456400871
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.271101474761963,
                "transform": {
                    "location": {
                        "x": -1538.376708984375,
                        "y": 5796.39306640625,
                        "z": 375.8642578125
                    },
                    "rotation": {
                        "roll": 0.0005061235278844833,
                        "pitch": 0.2766636312007904,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": -5.747806072235107,
                    "y": 2.5076518058776855,
                    "z": 0.033479031175374985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013635633513331413,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": 9.867846529232338e-06,
                    "y": -3.15346842398867e-05,
                    "z": 0.00013229224714450538
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7618408203125,
                        "y": 5736.462890625,
                        "z": 376.61322021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.844482421875,
                        "y": 5716.47509765625,
                        "z": 376.6541442871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12502659857273102,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.330950736999512,
                "transform": {
                    "location": {
                        "x": -1560.1456298828125,
                        "y": 5805.88818359375,
                        "z": 376.0308532714844
                    },
                    "rotation": {
                        "roll": -0.3876647353172302,
                        "pitch": 0.7333710193634033,
                        "yaw": 156.46041870117188
                    }
                },
                "velocity": {
                    "x": -6.708439350128174,
                    "y": 2.9551448822021484,
                    "z": 0.08247516304254532
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.601542472839355,
                "transform": {
                    "location": {
                        "x": -1598.2340087890625,
                        "y": 5822.509765625,
                        "z": 376.19732666015625
                    },
                    "rotation": {
                        "roll": -0.0012207002146169543,
                        "pitch": 0.27463504672050476,
                        "yaw": 156.43565368652344
                    }
                },
                "velocity": {
                    "x": -10.63458251953125,
                    "y": 4.636618614196777,
                    "z": 0.05656324326992035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.672147512435913,
                "transform": {
                    "location": {
                        "x": -1567.15283203125,
                        "y": 5769.60107421875,
                        "z": 376.1202392578125
                    },
                    "rotation": {
                        "roll": 0.0012231508735567331,
                        "pitch": -0.19094476103782654,
                        "yaw": 89.49717712402344
                    }
                },
                "velocity": {
                    "x": 0.007953987456858158,
                    "y": 1.6721210479736328,
                    "z": -0.0050589656457304955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3671968877315521,
                "transform": {
                    "location": {
                        "x": -1567.1187744140625,
                        "y": 5784.29736328125,
                        "z": 376.0830383300781
                    },
                    "rotation": {
                        "roll": -0.0003357168461661786,
                        "pitch": -0.6813045144081116,
                        "yaw": 89.84889221191406
                    }
                },
                "velocity": {
                    "x": 0.0008983812876977026,
                    "y": 0.3671894669532776,
                    "z": -0.002152786124497652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4935740828514099,
        "expert_target_speed": 0,
        "target_point": [
            7.914821897063864,
            4.5160131519493305
        ],
        "target_point_next": [
            26.348140641732137,
            52.06822555933521
        ]
    },
    "410": {
        "acceleration": [
            0.000304371933452785,
            -0.18564164638519287,
            -0.012426185421645641
        ],
        "angular_velocity": [
            0.12014684826135635,
            0.002054656157270074,
            -0.8813517689704895
        ],
        "forward_vector": [
            0.03996747359633446,
            0.9991954565048218,
            -0.0033241447526961565
        ],
        "right_vector": [
            -0.9992009997367859,
            0.03996763005852699,
            -1.8571503460407257e-05
        ],
        "location": [
            -1566.610595703125,
            5802.52978515625,
            376.0375671386719
        ],
        "rotation": [
            0.0010640746913850307,
            -0.19045981764793396,
            87.70941162109375
        ],
        "velocity": [
            0.00043169548735022545,
            0.32945185899734497,
            -0.0017146395985037088
        ],
        "speed": 0.329452141832164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.98136901855469,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -2.990588427564944e-06,
                -1.9908620743080974e-05,
                0.0003830954956356436
            ],
            "speed_kmh": 0.0013810467856870717,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7587890625,
                "transform": {
                    "location": {
                        "x": -1501.4947509765625,
                        "y": 5780.30126953125,
                        "z": 375.7126159667969
                    },
                    "rotation": {
                        "roll": -0.000244144321186468,
                        "pitch": 0.37012791633605957,
                        "yaw": 156.42620849609375
                    }
                },
                "velocity": {
                    "x": -2.5284202098846436,
                    "y": 1.1035828590393066,
                    "z": 0.010658950544893742
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.248755931854248,
                "transform": {
                    "location": {
                        "x": -1539.827880859375,
                        "y": 5797.025390625,
                        "z": 375.87213134765625
                    },
                    "rotation": {
                        "roll": -0.001007085433229804,
                        "pitch": 0.28966832160949707,
                        "yaw": 156.43447875976562
                    }
                },
                "velocity": {
                    "x": -5.727599143981934,
                    "y": 2.4981002807617188,
                    "z": 0.032449882477521896
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00038362410850822926,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": -2.990588427564944e-06,
                    "y": -1.9908620743080974e-05,
                    "z": 0.0003830954956356436
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7703857421875,
                        "y": 5734.37939453125,
                        "z": 376.6173400878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.85302734375,
                        "y": 5714.3916015625,
                        "z": 376.65863037109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12502659857273102,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.974995613098145,
                "transform": {
                    "location": {
                        "x": -1562.0325927734375,
                        "y": 5806.71337890625,
                        "z": 376.04296875
                    },
                    "rotation": {
                        "roll": -0.3823547065258026,
                        "pitch": 0.7260149121284485,
                        "yaw": 156.394287109375
                    }
                },
                "velocity": {
                    "x": -8.224305152893066,
                    "y": 3.5924699306488037,
                    "z": 0.0742645263671875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4541,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.60150146484375,
                "transform": {
                    "location": {
                        "x": -1600.892333984375,
                        "y": 5823.66845703125,
                        "z": 376.2110595703125
                    },
                    "rotation": {
                        "roll": -0.0027465843595564365,
                        "pitch": 0.2733305096626282,
                        "yaw": 156.4462890625
                    }
                },
                "velocity": {
                    "x": -10.634134292602539,
                    "y": 4.637564659118652,
                    "z": 0.054917361587285995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.48480486869812,
                "transform": {
                    "location": {
                        "x": -1567.1502685546875,
                        "y": 5770.1142578125,
                        "z": 376.1190490722656
                    },
                    "rotation": {
                        "roll": -0.00042724725790321827,
                        "pitch": -0.06555615365505219,
                        "yaw": 89.50360870361328
                    }
                },
                "velocity": {
                    "x": 0.0115540511906147,
                    "y": 2.484771251678467,
                    "z": -0.005828323308378458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1825662851333618,
                "transform": {
                    "location": {
                        "x": -1567.1180419921875,
                        "y": 5784.5,
                        "z": 376.08062744140625
                    },
                    "rotation": {
                        "roll": 0.00024146572104655206,
                        "pitch": -0.18151909112930298,
                        "yaw": 89.8466567993164
                    }
                },
                "velocity": {
                    "x": 0.0033996948041021824,
                    "y": 1.182559609413147,
                    "z": -0.00208390224725008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.49697545170783997,
        "expert_target_speed": 0,
        "target_point": [
            7.833213030033924,
            4.500748582222451
        ],
        "target_point_next": [
            26.342706277361813,
            52.02336219413153
        ]
    },
    "415": {
        "acceleration": [
            -0.026480868458747864,
            1.7517268657684326,
            -0.008467864245176315
        ],
        "angular_velocity": [
            0.47241827845573425,
            -0.05359315499663353,
            0.6668550968170166
        ],
        "forward_vector": [
            0.03730621933937073,
            0.9993014931678772,
            -0.002174137160181999
        ],
        "right_vector": [
            -0.9993038773536682,
            0.037306420505046844,
            5.060003240942024e-05
        ],
        "location": [
            -1566.610595703125,
            5802.6240234375,
            376.03704833984375
        ],
        "rotation": [
            -0.002899175276979804,
            -0.12456898391246796,
            87.86200714111328
        ],
        "velocity": [
            -0.001322372816503048,
            0.48821553587913513,
            -0.001520242658443749
        ],
        "speed": 0.4882173267548141,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.9291877746582,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                6.392151135514723e-06,
                -1.2225434147694614e-05,
                -5.140558641869575e-06
            ],
            "speed_kmh": 5.3000287592487274e-05,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.119044780731201,
                "transform": {
                    "location": {
                        "x": -1502.2886962890625,
                        "y": 5780.6474609375,
                        "z": 375.7162170410156
                    },
                    "rotation": {
                        "roll": 0.0003594673180487007,
                        "pitch": 0.39656075835227966,
                        "yaw": 156.42291259765625
                    }
                },
                "velocity": {
                    "x": -3.775163173675537,
                    "y": 1.64752197265625,
                    "z": 0.018535088747739792
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.7606964111328125,
                "transform": {
                    "location": {
                        "x": -1541.2017822265625,
                        "y": 5797.625,
                        "z": 375.87982177734375
                    },
                    "rotation": {
                        "roll": -0.0002746649843174964,
                        "pitch": 0.28152671456336975,
                        "yaw": 156.435302734375
                    }
                },
                "velocity": {
                    "x": -5.280232906341553,
                    "y": 2.303022861480713,
                    "z": 0.02916335128247738
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4722301784786396e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": 6.392151135514723e-06,
                    "y": -1.2225434147694614e-05,
                    "z": -5.140558641869575e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7791748046875,
                        "y": 5732.2958984375,
                        "z": 376.6214294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.86181640625,
                        "y": 5712.30859375,
                        "z": 376.66314697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.921574592590332,
                "transform": {
                    "location": {
                        "x": -1564.2354736328125,
                        "y": 5807.6767578125,
                        "z": 376.0559997558594
                    },
                    "rotation": {
                        "roll": -0.18829341232776642,
                        "pitch": 0.1417059302330017,
                        "yaw": 156.4312744140625
                    }
                },
                "velocity": {
                    "x": -9.095550537109375,
                    "y": 3.963407278060913,
                    "z": 0.0011645888444036245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8183846473693848,
                "transform": {
                    "location": {
                        "x": -1567.1473388671875,
                        "y": 5770.89599609375,
                        "z": 376.11724853515625
                    },
                    "rotation": {
                        "roll": -0.002960203681141138,
                        "pitch": 0.03869301825761795,
                        "yaw": 89.62675476074219
                    }
                },
                "velocity": {
                    "x": 0.014332903549075127,
                    "y": 3.818343162536621,
                    "z": -0.010623893700540066
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2827173471450806,
                "transform": {
                    "location": {
                        "x": -1567.118408203125,
                        "y": 5784.80859375,
                        "z": 376.0797424316406
                    },
                    "rotation": {
                        "roll": 0.00333304051309824,
                        "pitch": -0.12899494171142578,
                        "yaw": 89.55731964111328
                    }
                },
                "velocity": {
                    "x": 0.004823938012123108,
                    "y": 1.2827051877975464,
                    "z": -0.0028498172760009766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5026697516441345,
        "expert_target_speed": 10.0,
        "target_point": [
            7.751003996588556,
            4.476346854164717
        ],
        "target_point_next": [
            26.38704721011542,
            51.949476497398074
        ]
    },
    "420": {
        "acceleration": [
            -0.054098330438137054,
            1.407017707824707,
            0.006862259469926357
        ],
        "angular_velocity": [
            0.2085774838924408,
            0.05099879950284958,
            1.4672465324401855
        ],
        "forward_vector": [
            0.03216779604554176,
            0.9994823932647705,
            -0.00026369091938249767
        ],
        "right_vector": [
            -0.9994823932647705,
            0.032167885452508926,
            0.0003360908303875476
        ],
        "location": [
            -1566.611572265625,
            5802.8056640625,
            376.0361633300781
        ],
        "rotation": [
            -0.0192565880715847,
            -0.015108377672731876,
            88.15660095214844
        ],
        "velocity": [
            -0.012414246797561646,
            0.9073102474212646,
            -0.0017129993066191673
        ],
        "speed": 0.907395172237095,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.828155517578125,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.0809861123561859e-05,
                -2.528490404074546e-05,
                0.00037866810453124344
            ],
            "speed_kmh": 0.001366794951210503,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.319691181182861,
                "transform": {
                    "location": {
                        "x": -1503.3856201171875,
                        "y": 5781.1259765625,
                        "z": 375.7218017578125
                    },
                    "rotation": {
                        "roll": -0.0005493229837156832,
                        "pitch": 0.39526301622390747,
                        "yaw": 156.4249267578125
                    }
                },
                "velocity": {
                    "x": -4.875656604766846,
                    "y": 2.1275460720062256,
                    "z": 0.025139646604657173
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.346662998199463,
                "transform": {
                    "location": {
                        "x": -1542.466552734375,
                        "y": 5798.1767578125,
                        "z": 375.8868408203125
                    },
                    "rotation": {
                        "roll": -0.00015258720668498427,
                        "pitch": 0.28261271119117737,
                        "yaw": 156.43557739257812
                    }
                },
                "velocity": {
                    "x": -4.900750160217285,
                    "y": 2.137436866760254,
                    "z": 0.02854788675904274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037966525997035205,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00013669182953890413,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571392059326172
                    }
                },
                "velocity": {
                    "x": 1.0809861123561859e-05,
                    "y": -2.528490404074546e-05,
                    "z": 0.00037866810453124344
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.78759765625,
                        "y": 5730.212890625,
                        "z": 376.6256103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8704833984375,
                        "y": 5710.22509765625,
                        "z": 376.6676940917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.472975730895996,
                "transform": {
                    "location": {
                        "x": -1566.688232421875,
                        "y": 5808.74658203125,
                        "z": 376.0621032714844
                    },
                    "rotation": {
                        "roll": 0.022945953533053398,
                        "pitch": 0.37421920895576477,
                        "yaw": 156.44589233398438
                    }
                },
                "velocity": {
                    "x": -10.519923210144043,
                    "y": 4.578175067901611,
                    "z": 0.026586655527353287
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.228723049163818,
                "transform": {
                    "location": {
                        "x": -1567.1435546875,
                        "y": 5772.03759765625,
                        "z": 376.11468505859375
                    },
                    "rotation": {
                        "roll": -0.0018920873990282416,
                        "pitch": 0.07534381002187729,
                        "yaw": 89.75367736816406
                    }
                },
                "velocity": {
                    "x": 0.015804117545485497,
                    "y": 5.228692531585693,
                    "z": -0.00828144047409296
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7874860167503357,
                "transform": {
                    "location": {
                        "x": -1567.117431640625,
                        "y": 5784.99853515625,
                        "z": 376.0799255371094
                    },
                    "rotation": {
                        "roll": 0.00318859051913023,
                        "pitch": -0.28500327467918396,
                        "yaw": 89.6402587890625
                    }
                },
                "velocity": {
                    "x": 0.0013703390723094344,
                    "y": 0.7874811887741089,
                    "z": -0.002396335592493415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.510261595249176,
        "expert_target_speed": 10.0,
        "target_point": [
            7.592390788946299,
            4.429635435297514
        ],
        "target_point_next": [
            26.472156588387676,
            51.80636588536052
        ]
    },
    "425": {
        "acceleration": [
            -0.15365175902843475,
            1.9884252548217773,
            0.015186117962002754
        ],
        "angular_velocity": [
            0.21454909443855286,
            0.10654446482658386,
            3.1417126655578613
        ],
        "forward_vector": [
            0.022408584132790565,
            0.9997485876083374,
            0.0007508991984650493
        ],
        "right_vector": [
            -0.9997485876083374,
            0.022407984361052513,
            0.0007994804764166474
        ],
        "location": [
            -1566.6165771484375,
            5803.09619140625,
            376.0352783203125
        ],
        "rotation": [
            -0.045806873589754105,
            0.04302335903048515,
            88.71597290039062
        ],
        "velocity": [
            -0.044859785586595535,
            1.3972179889678955,
            -0.0018712806049734354
        ],
        "speed": 1.3979379489299106,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.66466522216797,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.9245444491389208e-05,
                -1.403846727043856e-05,
                -0.00048273816355504096
            ],
            "speed_kmh": 0.001739972028290427,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.4104814529418945,
                "transform": {
                    "location": {
                        "x": -1504.609375,
                        "y": 5781.65966796875,
                        "z": 375.7284240722656
                    },
                    "rotation": {
                        "roll": 0.0002751461579464376,
                        "pitch": 0.31914058327674866,
                        "yaw": 156.40977478027344
                    }
                },
                "velocity": {
                    "x": -4.958837985992432,
                    "y": 2.1639370918273926,
                    "z": 0.024696731939911842
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.239377021789551,
                "transform": {
                    "location": {
                        "x": -1543.67919921875,
                        "y": 5798.70556640625,
                        "z": 375.89361572265625
                    },
                    "rotation": {
                        "roll": -0.0008239686139859259,
                        "pitch": 0.2872436046600342,
                        "yaw": 156.43479919433594
                    }
                },
                "velocity": {
                    "x": -4.8019585609436035,
                    "y": 2.095612049102783,
                    "z": 0.02601596713066101
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004833255661651492,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00013669182953890413,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571392059326172
                    }
                },
                "velocity": {
                    "x": 1.9245444491389208e-05,
                    "y": -1.403846727043856e-05,
                    "z": -0.00048273816355504096
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7965087890625,
                        "y": 5728.12939453125,
                        "z": 376.62982177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.87939453125,
                        "y": 5708.1416015625,
                        "z": 376.6723327636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.824726104736328,
                "transform": {
                    "location": {
                        "x": -1569.391357421875,
                        "y": 5809.92529296875,
                        "z": 376.0760498046875
                    },
                    "rotation": {
                        "roll": 0.008458093740046024,
                        "pitch": 0.3795672655105591,
                        "yaw": 156.44590759277344
                    }
                },
                "velocity": {
                    "x": -10.838735580444336,
                    "y": 4.726716041564941,
                    "z": 0.06418405473232269
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9665863513946533,
                "transform": {
                    "location": {
                        "x": -1567.1400146484375,
                        "y": 5773.2998046875,
                        "z": 376.1109619140625
                    },
                    "rotation": {
                        "roll": -0.001159674022346735,
                        "pitch": -0.2297060787677765,
                        "yaw": 89.82273864746094
                    }
                },
                "velocity": {
                    "x": 0.009657961316406727,
                    "y": 3.9665541648864746,
                    "z": -0.012736635282635689
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5658241510391235,
                "transform": {
                    "location": {
                        "x": -1567.1163330078125,
                        "y": 5785.294921875,
                        "z": 376.0779113769531
                    },
                    "rotation": {
                        "roll": -0.0014648439828306437,
                        "pitch": 0.0355033203959465,
                        "yaw": 89.7178726196289
                    }
                },
                "velocity": {
                    "x": 0.004085536114871502,
                    "y": 1.56581711769104,
                    "z": -0.0023126602172851562
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.514087975025177,
        "expert_target_speed": 0.13896656818642739,
        "target_point": [
            7.344922221101104,
            4.343804324186102
        ],
        "target_point_next": [
            26.6862075286312,
            51.53400274962614
        ]
    },
    "430": {
        "acceleration": [
            -0.6518954038619995,
            2.5616884231567383,
            -0.018374063074588776
        ],
        "angular_velocity": [
            0.14229810237884521,
            0.5810787677764893,
            6.145341873168945
        ],
        "forward_vector": [
            0.003676121588796377,
            0.9999925494194031,
            0.0011900661047548056
        ],
        "right_vector": [
            -0.9999904036521912,
            0.0036732619628310204,
            0.0023963083513081074
        ],
        "location": [
            -1566.6358642578125,
            5803.50927734375,
            376.0340270996094
        ],
        "rotation": [
            -0.137298583984375,
            0.06818577647209167,
            89.78937530517578
        ],
        "velocity": [
            -0.15299257636070251,
            1.9278172254562378,
            -0.006916999816894531
        ],
        "speed": 1.9338784820115436,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.4240608215332,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.422169208526611,
                "transform": {
                    "location": {
                        "x": -1506.0262451171875,
                        "y": 5782.27880859375,
                        "z": 375.7342224121094
                    },
                    "rotation": {
                        "roll": -0.0016174284974113107,
                        "pitch": 0.440711110830307,
                        "yaw": 156.38265991210938
                    }
                },
                "velocity": {
                    "x": -6.802611351013184,
                    "y": 2.9684977531433105,
                    "z": 0.03300930932164192
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.996921539306641,
                "transform": {
                    "location": {
                        "x": -1544.8448486328125,
                        "y": 5799.21435546875,
                        "z": 375.8999938964844
                    },
                    "rotation": {
                        "roll": -0.0006103558698669076,
                        "pitch": 0.2897297739982605,
                        "yaw": 156.4248046875
                    }
                },
                "velocity": {
                    "x": -4.580143451690674,
                    "y": 1.9977695941925049,
                    "z": 0.020617637783288956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00039544442552141845,
                        "pitch": -0.25363221764564514,
                        "yaw": -23.571422576904297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.804931640625,
                        "y": 5726.0458984375,
                        "z": 376.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.887939453125,
                        "y": 5706.05859375,
                        "z": 376.6770324707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.525497436523438,
                "transform": {
                    "location": {
                        "x": -1572.0611572265625,
                        "y": 5811.08984375,
                        "z": 376.09197998046875
                    },
                    "rotation": {
                        "roll": 0.0020615614484995604,
                        "pitch": 0.28264686465263367,
                        "yaw": 156.4313201904297
                    }
                },
                "velocity": {
                    "x": -10.564424514770508,
                    "y": 4.607217311859131,
                    "z": 0.05974501371383667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017224198672920465,
                "transform": {
                    "location": {
                        "x": -1567.1390380859375,
                        "y": 5773.74462890625,
                        "z": 376.1092224121094
                    },
                    "rotation": {
                        "roll": -0.0011596125550568104,
                        "pitch": -0.6783196926116943,
                        "yaw": 89.8369369506836
                    }
                },
                "velocity": {
                    "x": 0.00032864324748516083,
                    "y": -0.0015612164279446006,
                    "z": 0.0006490973173640668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9036616086959839,
                "transform": {
                    "location": {
                        "x": -1567.1148681640625,
                        "y": 5785.7646484375,
                        "z": 376.0768737792969
                    },
                    "rotation": {
                        "roll": -0.001586916041560471,
                        "pitch": 0.06670362502336502,
                        "yaw": 89.7519760131836
                    }
                },
                "velocity": {
                    "x": 0.005397355649620295,
                    "y": 1.9036487340927124,
                    "z": -0.004478988703340292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5360488891601562,
        "expert_target_speed": 2.313426948523717,
        "target_point": [
            7.011965233948528,
            4.184690343549819
        ],
        "target_point_next": [
            27.233552499143933,
            51.00442499952335
        ]
    },
    "435": {
        "acceleration": [
            -1.1287569999694824,
            3.323378562927246,
            -0.03137359395623207
        ],
        "angular_velocity": [
            0.07861579954624176,
            0.5447965860366821,
            11.368964195251465
        ],
        "forward_vector": [
            -0.035344257950782776,
            0.9993736743927002,
            0.0017718066228553653
        ],
        "right_vector": [
            -0.9993612170219421,
            -0.035353098064661026,
            0.005233611911535263
        ],
        "location": [
            -1566.696533203125,
            5804.0859375,
            376.0314025878906
        ],
        "rotation": [
            -0.2998656928539276,
            0.10151709616184235,
            92.02550506591797
        ],
        "velocity": [
            -0.39089298248291016,
            2.68593430519104,
            -0.013577079400420189
        ],
        "speed": 2.714229248894879,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.06363296508789,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -2.976544237753842e-06,
                6.626676622545347e-06,
                -0.00016550834698136896
            ],
            "speed_kmh": 0.0005964037064824208,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.882464408874512,
                "transform": {
                    "location": {
                        "x": -1507.91455078125,
                        "y": 5783.10302734375,
                        "z": 375.7436218261719
                    },
                    "rotation": {
                        "roll": -0.0013427705271169543,
                        "pitch": 0.43200260400772095,
                        "yaw": 156.40988159179688
                    }
                },
                "velocity": {
                    "x": -8.14002513885498,
                    "y": 3.5548031330108643,
                    "z": 0.03922421485185623
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.642628192901611,
                "transform": {
                    "location": {
                        "x": -1545.9500732421875,
                        "y": 5799.6962890625,
                        "z": 375.9059753417969
                    },
                    "rotation": {
                        "roll": -0.00085449154721573,
                        "pitch": 0.2895180284976959,
                        "yaw": 156.41653442382812
                    }
                },
                "velocity": {
                    "x": -4.255359172821045,
                    "y": 1.8561471700668335,
                    "z": 0.025166768580675125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016566769045311958,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": -2.976544237753842e-06,
                    "y": 6.626676622545347e-06,
                    "z": -0.00016550834698136896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.813720703125,
                        "y": 5723.962890625,
                        "z": 376.6383361816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.896484375,
                        "y": 5703.97509765625,
                        "z": 376.68170166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.538198471069336,
                "transform": {
                    "location": {
                        "x": -1574.698974609375,
                        "y": 5812.23974609375,
                        "z": 376.1064758300781
                    },
                    "rotation": {
                        "roll": 0.0002749919076450169,
                        "pitch": 0.2869430482387543,
                        "yaw": 156.4451141357422
                    }
                },
                "velocity": {
                    "x": -10.576098442077637,
                    "y": 4.612254619598389,
                    "z": 0.05711900442838669
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.500977635383606,
                "transform": {
                    "location": {
                        "x": -1567.138916015625,
                        "y": 5773.986328125,
                        "z": 376.109375
                    },
                    "rotation": {
                        "roll": 0.0005644525517709553,
                        "pitch": -0.13159041106700897,
                        "yaw": 89.85548400878906
                    }
                },
                "velocity": {
                    "x": 0.003579540876671672,
                    "y": 1.5009711980819702,
                    "z": -0.0025463677011430264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8129814863204956,
                "transform": {
                    "location": {
                        "x": -1567.1143798828125,
                        "y": 5785.9404296875,
                        "z": 376.0780029296875
                    },
                    "rotation": {
                        "roll": -0.0011291950941085815,
                        "pitch": -0.3894915282726288,
                        "yaw": 89.7636947631836
                    }
                },
                "velocity": {
                    "x": 0.002758163958787918,
                    "y": 0.8129734396934509,
                    "z": -0.002337436657398939
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5030851364135742,
        "expert_target_speed": 3.5060332748229692,
        "target_point": [
            6.591503600151021,
            3.8675816364862756
        ],
        "target_point_next": [
            28.6250211243685,
            49.8624101532846
        ]
    },
    "440": {
        "acceleration": [
            -1.9431054592132568,
            3.685593605041504,
            -0.0012142211198806763
        ],
        "angular_velocity": [
            0.01826312765479088,
            1.0842196941375732,
            17.25454330444336
        ],
        "forward_vector": [
            -0.09812982380390167,
            0.995171308517456,
            0.0021378975361585617
        ],
        "right_vector": [
            -0.9951332807540894,
            -0.09814495593309402,
            0.00878883060067892
        ],
        "location": [
            -1566.831787109375,
            5804.8740234375,
            376.0276794433594
        ],
        "rotation": [
            -0.5035704970359802,
            0.12249260395765305,
            95.63150024414062
        ],
        "velocity": [
            -0.7973682880401611,
            3.5869455337524414,
            -0.0136864660307765
        ],
        "speed": 3.6745032928109733,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.533546447753906,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -4.467591679713223e-06,
                -1.6711539501557127e-05,
                0.0002531411009840667
            ],
            "speed_kmh": 0.0009134332428164582,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.656270027160645,
                "transform": {
                    "location": {
                        "x": -1510.0811767578125,
                        "y": 5784.048828125,
                        "z": 375.75482177734375
                    },
                    "rotation": {
                        "roll": -0.0010986293200403452,
                        "pitch": 0.36952003836631775,
                        "yaw": 156.41636657714844
                    }
                },
                "velocity": {
                    "x": -8.850318908691406,
                    "y": 3.8617825508117676,
                    "z": 0.045158520340919495
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.417286396026611,
                "transform": {
                    "location": {
                        "x": -1546.984619140625,
                        "y": 5800.14794921875,
                        "z": 375.9118957519531
                    },
                    "rotation": {
                        "roll": -0.0015563959022983909,
                        "pitch": 0.29073381423950195,
                        "yaw": 156.4239959716797
                    }
                },
                "velocity": {
                    "x": -4.048501014709473,
                    "y": 1.7667701244354248,
                    "z": 0.02413432113826275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00025373147218488157,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": -4.467591679713223e-06,
                    "y": -1.6711539501557127e-05,
                    "z": 0.0002531411009840667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8221435546875,
                        "y": 5721.87939453125,
                        "z": 376.6427001953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12185056507587433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9052734375,
                        "y": 5701.8916015625,
                        "z": 376.6865539550781
                    },
                    "rotation": {
                        "roll": 1.3340248905535645e-08,
                        "pitch": 0.13460935652256012,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.596208572387695,
                "transform": {
                    "location": {
                        "x": -1577.35205078125,
                        "y": 5813.39697265625,
                        "z": 376.1209411621094
                    },
                    "rotation": {
                        "roll": -0.0002746585523709655,
                        "pitch": 0.29360249638557434,
                        "yaw": 156.42686462402344
                    }
                },
                "velocity": {
                    "x": -10.628310203552246,
                    "y": 4.6376471519470215,
                    "z": 0.057552773505449295
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.320429801940918,
                "transform": {
                    "location": {
                        "x": -1567.13720703125,
                        "y": 5774.4853515625,
                        "z": 376.1083068847656
                    },
                    "rotation": {
                        "roll": 0.0008784782257862389,
                        "pitch": -0.03390505537390709,
                        "yaw": 89.75189971923828
                    }
                },
                "velocity": {
                    "x": 0.00663362629711628,
                    "y": 2.3204128742218018,
                    "z": -0.005911798216402531
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6401163339614868,
                "transform": {
                    "location": {
                        "x": -1567.1134033203125,
                        "y": 5786.2587890625,
                        "z": 376.0756530761719
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": 0.015586490742862225,
                        "yaw": 89.76911163330078
                    }
                },
                "velocity": {
                    "x": 0.0043444023467600346,
                    "y": 1.6401090621948242,
                    "z": -0.002221651142463088
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.46533727645874023,
        "expert_target_speed": 4.595934912271332,
        "target_point": [
            30.90683237673187,
            47.90609073697962
        ],
        "target_point_next": [
            31.39474113561423,
            48.77892883062249
        ]
    },
    "445": {
        "acceleration": [
            -2.8934335708618164,
            2.5007247924804688,
            0.06490974128246307
        ],
        "angular_velocity": [
            0.31479236483573914,
            1.0694338083267212,
            23.356346130371094
        ],
        "forward_vector": [
            -0.18585889041423798,
            0.9825710654258728,
            0.003253334667533636
        ],
        "right_vector": [
            -0.9824841022491455,
            -0.18588580191135406,
            0.013093251734972
        ],
        "location": [
            -1567.0894775390625,
            5805.88134765625,
            376.0259704589844
        ],
        "rotation": [
            -0.7502135038375854,
            0.18640267848968506,
            100.71127319335938
        ],
        "velocity": [
            -1.4095510244369507,
            4.363303184509277,
            0.006065788213163614
        ],
        "speed": 4.585329734102015,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.79427719116211,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.673758015385829e-05,
                -3.887899310939247e-06,
                -0.00019012726261280477
            ],
            "speed_kmh": 0.0006872478103818888,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.394763946533203,
                "transform": {
                    "location": {
                        "x": -1512.5224609375,
                        "y": 5785.1142578125,
                        "z": 375.7665100097656
                    },
                    "rotation": {
                        "roll": -0.0002136293041985482,
                        "pitch": 0.42244717478752136,
                        "yaw": 156.42364501953125
                    }
                },
                "velocity": {
                    "x": -10.443522453308105,
                    "y": 4.557497024536133,
                    "z": 0.05213739350438118
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.183780670166016,
                "transform": {
                    "location": {
                        "x": -1547.9698486328125,
                        "y": 5800.578125,
                        "z": 375.91754150390625
                    },
                    "rotation": {
                        "roll": -0.001312247128225863,
                        "pitch": 0.291806161403656,
                        "yaw": 156.42514038085938
                    }
                },
                "velocity": {
                    "x": -3.8346550464630127,
                    "y": 1.6730135679244995,
                    "z": 0.021658429875969887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019090216665063053,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": 1.673758015385829e-05,
                    "y": -3.887899310939247e-06,
                    "z": -0.00019012726261280477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8306884765625,
                        "y": 5719.7958984375,
                        "z": 376.64703369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12185056507587433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.913818359375,
                        "y": 5699.80859375,
                        "z": 376.69140625
                    },
                    "rotation": {
                        "roll": 1.3340248905535645e-08,
                        "pitch": 0.13460935652256012,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.577917098999023,
                "transform": {
                    "location": {
                        "x": -1580.0074462890625,
                        "y": 5814.5556640625,
                        "z": 376.1353454589844
                    },
                    "rotation": {
                        "roll": 0.0007910177810117602,
                        "pitch": 0.2868269383907318,
                        "yaw": 156.43768310546875
                    }
                },
                "velocity": {
                    "x": -10.61191463470459,
                    "y": 4.629496097564697,
                    "z": 0.05641758814454079
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008498493116348982,
                "transform": {
                    "location": {
                        "x": -1567.13623046875,
                        "y": 5774.7900390625,
                        "z": 376.1070556640625
                    },
                    "rotation": {
                        "roll": 0.005756925791501999,
                        "pitch": -0.4231575131416321,
                        "yaw": 89.61394500732422
                    }
                },
                "velocity": {
                    "x": -0.00012674150639213622,
                    "y": -0.00047241130960173905,
                    "z": -0.0006949877715669572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5864415168762207,
                "transform": {
                    "location": {
                        "x": -1567.1116943359375,
                        "y": 5786.78173828125,
                        "z": 376.0738830566406
                    },
                    "rotation": {
                        "roll": -0.0012817478273063898,
                        "pitch": 0.18714717030525208,
                        "yaw": 89.79365539550781
                    }
                },
                "velocity": {
                    "x": 0.0069935438223183155,
                    "y": 2.5864248275756836,
                    "z": -0.006051530595868826
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4451824724674225,
        "expert_target_speed": 5.530686908596981,
        "target_point": [
            33.98952059563336,
            44.915371892499394
        ],
        "target_point_next": [
            34.55279667922983,
            45.741580914694424
        ]
    },
    "450": {
        "acceleration": [
            -2.534332275390625,
            -0.5388736724853516,
            -0.08233223110437393
        ],
        "angular_velocity": [
            0.16761396825313568,
            0.14816386997699738,
            28.010866165161133
        ],
        "forward_vector": [
            -0.30425307154655457,
            0.9525713920593262,
            0.006150564178824425
        ],
        "right_vector": [
            -0.9523661732673645,
            -0.3043151795864105,
            0.019771775230765343
        ],
        "location": [
            -1567.533447265625,
            5807.03759765625,
            376.02679443359375
        ],
        "rotation": [
            -1.1329345703125,
            0.35240358114242554,
            107.71357727050781
        ],
        "velocity": [
            -2.2520177364349365,
            4.703304767608643,
            0.003327941754832864
        ],
        "speed": 5.214658150083064,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.831356048583984,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.442573920940049e-05,
                5.517005774891004e-06,
                -0.0007131067686714232
            ],
            "speed_kmh": 0.0025677864094721266,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.823698997497559,
                "transform": {
                    "location": {
                        "x": -1515.2149658203125,
                        "y": 5786.2890625,
                        "z": 375.78082275390625
                    },
                    "rotation": {
                        "roll": -0.0007324240868911147,
                        "pitch": 0.342902809381485,
                        "yaw": 156.42909240722656
                    }
                },
                "velocity": {
                    "x": -10.837020874023438,
                    "y": 4.728219032287598,
                    "z": 0.052742354571819305
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9648046493530273,
                "transform": {
                    "location": {
                        "x": -1548.9017333984375,
                        "y": 5800.98486328125,
                        "z": 375.9227294921875
                    },
                    "rotation": {
                        "roll": -0.0010070923017337918,
                        "pitch": 0.2916763722896576,
                        "yaw": 156.42916870117188
                    }
                },
                "velocity": {
                    "x": -3.6338725090026855,
                    "y": 1.5856150388717651,
                    "z": 0.02172459475696087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007132739992812276,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": 1.442573920940049e-05,
                    "y": 5.517005774891004e-06,
                    "z": -0.0007131067686714232
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8394775390625,
                        "y": 5717.712890625,
                        "z": 376.65142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12185056507587433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.922607421875,
                        "y": 5697.72509765625,
                        "z": 376.6961975097656
                    },
                    "rotation": {
                        "roll": 1.3340248905535645e-08,
                        "pitch": 0.13460935652256012,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.57097339630127,
                "transform": {
                    "location": {
                        "x": -1582.6590576171875,
                        "y": 5815.7119140625,
                        "z": 376.1496276855469
                    },
                    "rotation": {
                        "roll": -0.0003967360535170883,
                        "pitch": 0.28192970156669617,
                        "yaw": 156.42416381835938
                    }
                },
                "velocity": {
                    "x": -10.605574607849121,
                    "y": 4.626672744750977,
                    "z": 0.05593501031398773
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1142172813415527,
                "transform": {
                    "location": {
                        "x": -1567.1356201171875,
                        "y": 5774.95556640625,
                        "z": 376.10699462890625
                    },
                    "rotation": {
                        "roll": 0.001708954107016325,
                        "pitch": -0.10491853207349777,
                        "yaw": 89.66537475585938
                    }
                },
                "velocity": {
                    "x": 0.003963307477533817,
                    "y": 1.1142082214355469,
                    "z": -0.0021114253904670477
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4799234867095947,
                "transform": {
                    "location": {
                        "x": -1567.109619140625,
                        "y": 5787.58251953125,
                        "z": 376.0716857910156
                    },
                    "rotation": {
                        "roll": -0.0014038070803508162,
                        "pitch": 0.2780638039112091,
                        "yaw": 89.81529235839844
                    }
                },
                "velocity": {
                    "x": 0.009025756269693375,
                    "y": 3.4799022674560547,
                    "z": -0.008173074573278427
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4619047939777374,
        "expert_target_speed": 6.15133961590112,
        "target_point": [
            37.97509180044398,
            40.36559690945655
        ],
        "target_point_next": [
            38.63488915367306,
            41.11697480863922
        ]
    },
    "455": {
        "acceleration": [
            -2.5632381439208984,
            -1.4175128936767578,
            0.10926781594753265
        ],
        "angular_velocity": [
            -0.009060659445822239,
            -0.0646730288863182,
            34.821712493896484
        ],
        "forward_vector": [
            -0.43220582604408264,
            0.9017588496208191,
            0.00538775697350502
        ],
        "right_vector": [
            -0.9015341997146606,
            -0.43222078680992126,
            0.02052430436015129
        ],
        "location": [
            -1568.1314697265625,
            5808.1552734375,
            376.02838134765625
        ],
        "rotation": [
            -1.176055669784546,
            0.3086972236633301,
            115.6080322265625
        ],
        "velocity": [
            -2.781175136566162,
            4.229846954345703,
            0.014871415682137012
        ],
        "speed": 5.062266330157021,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.765419006347656,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -3.8011744436516892e-06,
                1.0106824447575491e-05,
                -9.235733887180686e-05
            ],
            "speed_kmh": 0.0003347511229686443,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.430584907531738,
                "transform": {
                    "location": {
                        "x": -1517.8812255859375,
                        "y": 5787.4521484375,
                        "z": 375.79510498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2559954822063446,
                        "yaw": 156.43511962890625
                    }
                },
                "velocity": {
                    "x": -10.477188110351562,
                    "y": 4.5699005126953125,
                    "z": 0.05309460684657097
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.757737874984741,
                "transform": {
                    "location": {
                        "x": -1549.785400390625,
                        "y": 5801.36962890625,
                        "z": 375.92767333984375
                    },
                    "rotation": {
                        "roll": -0.00012207120016682893,
                        "pitch": 0.2925984561443329,
                        "yaw": 156.4265899658203
                    }
                },
                "velocity": {
                    "x": -3.4442050457000732,
                    "y": 1.502526044845581,
                    "z": 0.02143057808279991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.298642544308677e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": -3.8011744436516892e-06,
                    "y": 1.0106824447575491e-05,
                    "z": -9.235733887180686e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.847900390625,
                        "y": 5715.62939453125,
                        "z": 376.6559143066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12502659857273102,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9310302734375,
                        "y": 5695.6416015625,
                        "z": 376.7010803222656
                    },
                    "rotation": {
                        "roll": 2.0010377355106357e-08,
                        "pitch": 0.137785404920578,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.576643943786621,
                "transform": {
                    "location": {
                        "x": -1585.3109130859375,
                        "y": 5816.869140625,
                        "z": 376.1638488769531
                    },
                    "rotation": {
                        "roll": 0.0011324778897687793,
                        "pitch": 0.28394460678100586,
                        "yaw": 156.43312072753906
                    }
                },
                "velocity": {
                    "x": -10.610414505004883,
                    "y": 4.629741191864014,
                    "z": 0.057269591838121414
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.040419340133667,
                "transform": {
                    "location": {
                        "x": -1567.134765625,
                        "y": 5775.357421875,
                        "z": 376.106201171875
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.019739245995879173,
                        "yaw": 89.73717498779297
                    }
                },
                "velocity": {
                    "x": 0.005588147323578596,
                    "y": 2.040405035018921,
                    "z": -0.005276460666209459
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.065739631652832,
                "transform": {
                    "location": {
                        "x": -1567.107666015625,
                        "y": 5788.384765625,
                        "z": 376.0710754394531
                    },
                    "rotation": {
                        "roll": -0.0005493172793649137,
                        "pitch": -0.09096445143222809,
                        "yaw": 89.82710266113281
                    }
                },
                "velocity": {
                    "x": 0.009279144927859306,
                    "y": 3.065716505050659,
                    "z": -0.007441720925271511
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6874023675918579,
        "expert_target_speed": 6.043647701707413,
        "target_point": [
            41.893001786379756,
            34.71099671507993
        ],
        "target_point_next": [
            42.64974701111531,
            35.36463113855239
        ]
    },
    "460": {
        "acceleration": [
            -2.103753089904785,
            -2.192535400390625,
            0.014582835137844086
        ],
        "angular_velocity": [
            -0.2950992286205292,
            -0.11855105310678482,
            29.621809005737305
        ],
        "forward_vector": [
            -0.5537137389183044,
            0.832693338394165,
            0.004780154675245285
        ],
        "right_vector": [
            -0.8324626088142395,
            -0.5536811351776123,
            0.02105048857629299
        ],
        "location": [
            -1568.88232421875,
            5809.17626953125,
            376.0343017578125
        ],
        "rotation": [
            -1.206207036972046,
            0.27388373017311096,
            123.62260437011719
        ],
        "velocity": [
            -3.384861707687378,
            3.8174052238464355,
            0.025880174711346626
        ],
        "speed": 5.101947806790889,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.620418548583984,
        "front_vehicle_info": {
            "id": 4547,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                7.91571983427275e-06,
                1.4003980140842032e-05,
                8.349589916178957e-05
            ],
            "speed_kmh": 0.0003061129610653839,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1500.1275634765625,
                        "y": 5779.705078125,
                        "z": 375.85845947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.895264625549316,
                "transform": {
                    "location": {
                        "x": -1520.4288330078125,
                        "y": 5788.56298828125,
                        "z": 375.8083801269531
                    },
                    "rotation": {
                        "roll": 1.0338742129079037e-07,
                        "pitch": 0.22207675874233246,
                        "yaw": 156.4406280517578
                    }
                },
                "velocity": {
                    "x": -9.98693561553955,
                    "y": 4.354897499084473,
                    "z": 0.05262899398803711
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5605876445770264,
                "transform": {
                    "location": {
                        "x": -1550.622802734375,
                        "y": 5801.7353515625,
                        "z": 375.93255615234375
                    },
                    "rotation": {
                        "roll": 0.0004655128577724099,
                        "pitch": 0.2938278913497925,
                        "yaw": 156.4320526123047
                    }
                },
                "velocity": {
                    "x": -3.263443946838379,
                    "y": 1.4238433837890625,
                    "z": 0.01971348747611046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.503137360094115e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": 7.91571983427275e-06,
                    "y": 1.4003980140842032e-05,
                    "z": 8.349589916178957e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8568115234375,
                        "y": 5713.5458984375,
                        "z": 376.6604309082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12502659857273102,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9398193359375,
                        "y": 5693.55859375,
                        "z": 376.7060546875
                    },
                    "rotation": {
                        "roll": 2.0010377355106357e-08,
                        "pitch": 0.137785404920578,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.576354026794434,
                "transform": {
                    "location": {
                        "x": -1587.96337890625,
                        "y": 5818.02734375,
                        "z": 376.1780700683594
                    },
                    "rotation": {
                        "roll": 0.0005122103611938655,
                        "pitch": 0.2835621237754822,
                        "yaw": 156.41627502441406
                    }
                },
                "velocity": {
                    "x": -10.60891056060791,
                    "y": 4.632468223571777,
                    "z": 0.056893490254879
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.22445401549339294,
                "transform": {
                    "location": {
                        "x": -1567.133544921875,
                        "y": 5775.8134765625,
                        "z": 376.1047058105469
                    },
                    "rotation": {
                        "roll": 0.0002984647871926427,
                        "pitch": -0.30477669835090637,
                        "yaw": 89.77208709716797
                    }
                },
                "velocity": {
                    "x": 0.0006232068408280611,
                    "y": 0.2244509905576706,
                    "z": -0.0009862612932920456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5254058837890625,
                "transform": {
                    "location": {
                        "x": -1567.10546875,
                        "y": 5789.2236328125,
                        "z": 376.0688171386719
                    },
                    "rotation": {
                        "roll": -0.0005493165808729827,
                        "pitch": -0.009432490915060043,
                        "yaw": 89.83353424072266
                    }
                },
                "velocity": {
                    "x": 0.009274234995245934,
                    "y": 3.5253829956054688,
                    "z": -0.00866793654859066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.915952205657959,
        "expert_target_speed": 6.099803978046537,
        "target_point": [
            45.05743324857739,
            28.471162379251897
        ],
        "target_point_next": [
            45.89791975323304,
            29.012903766077724
        ]
    },
    "465": {
        "acceleration": [
            -5.187864303588867,
            -0.2942180633544922,
            0.0010547414422035217
        ],
        "angular_velocity": [
            0.05070918798446655,
            0.8875215649604797,
            40.84083938598633
        ],
        "forward_vector": [
            -0.6788264513015747,
            0.7342323064804077,
            0.009883599355816841
        ],
        "right_vector": [
            -0.7338640689849854,
            -0.6788262128829956,
            0.025269469246268272
        ],
        "location": [
            -1569.8980712890625,
            5810.18994140625,
            376.04052734375
        ],
        "rotation": [
            -1.4480587244033813,
            0.5662977695465088,
            132.7545928955078
        ],
        "velocity": [
            -4.862771034240723,
            4.044797897338867,
            0.029882648959755898
        ],
        "speed": 6.325103332101975,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.586721420288086,
        "front_vehicle_info": {
            "id": 4544,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1590.6156005859375,
                5819.185546875,
                376.1922302246094
            ],
            "velocity": [
                -10.609354019165039,
                4.629308223724365,
                0.05665437504649162
            ],
            "speed_kmh": 41.671783952687434,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1502.5672607421875,
                        "y": 5780.7685546875,
                        "z": 375.7872619628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.493951797485352,
                "transform": {
                    "location": {
                        "x": -1522.7757568359375,
                        "y": 5789.5869140625,
                        "z": 375.82135009765625
                    },
                    "rotation": {
                        "roll": 0.0009969972306862473,
                        "pitch": 0.14391890168190002,
                        "yaw": 156.43804931640625
                    }
                },
                "velocity": {
                    "x": -8.702301979064941,
                    "y": 3.7951321601867676,
                    "z": 0.04510125145316124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6262905597686768,
                "transform": {
                    "location": {
                        "x": -1551.431640625,
                        "y": 5802.08837890625,
                        "z": 375.9371032714844
                    },
                    "rotation": {
                        "roll": 9.891903573588934e-06,
                        "pitch": 0.2997633218765259,
                        "yaw": 156.42730712890625
                    }
                },
                "velocity": {
                    "x": -3.323411464691162,
                    "y": 1.450715184211731,
                    "z": 0.018580473959445953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.692853200249374e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": -1.9980630895588547e-05,
                    "y": -2.6240162696922198e-05,
                    "z": -9.114476415561512e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.575495719909668,
                "transform": {
                    "location": {
                        "x": -1590.6156005859375,
                        "y": 5819.185546875,
                        "z": 376.1922302246094
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.28054317831993103,
                        "yaw": 156.433837890625
                    }
                },
                "velocity": {
                    "x": -10.609354019165039,
                    "y": 4.629308223724365,
                    "z": 0.05665437504649162
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4537,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0747359991073608,
                "transform": {
                    "location": {
                        "x": -1567.133056640625,
                        "y": 5775.939453125,
                        "z": 376.1045227050781
                    },
                    "rotation": {
                        "roll": -0.00045777068589814007,
                        "pitch": -0.13558608293533325,
                        "yaw": 89.7785873413086
                    }
                },
                "velocity": {
                    "x": 0.0026626575272530317,
                    "y": 1.0747309923171997,
                    "z": -0.001964254304766655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4536,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.281446933746338,
                "transform": {
                    "location": {
                        "x": -1567.1033935546875,
                        "y": 5790.0537109375,
                        "z": 376.0674133300781
                    },
                    "rotation": {
                        "roll": 0.00099473656155169,
                        "pitch": -0.15555071830749512,
                        "yaw": 89.84002685546875
                    }
                },
                "velocity": {
                    "x": 0.009190850891172886,
                    "y": 3.2814199924468994,
                    "z": -0.009575900621712208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9992262125015259,
        "expert_target_speed": 7.209697663433986,
        "target_point": [
            47.57112406833602,
            20.901586049460107
        ],
        "target_point_next": [
            48.48693702655822,
            21.303068203808913
        ]
    },
    "470": {
        "acceleration": [
            -3.131132125854492,
            -3.341073989868164,
            -0.0043904781341552734
        ],
        "angular_velocity": [
            -0.6351780891418457,
            -0.31155481934547424,
            38.770484924316406
        ],
        "forward_vector": [
            -0.7975232601165771,
            0.6032236218452454,
            0.008820775896310806
        ],
        "right_vector": [
            -0.602813184261322,
            -0.7973902821540833,
            0.02801542915403843
        ],
        "location": [
            -1571.2213134765625,
            5811.15087890625,
            376.04901123046875
        ],
        "rotation": [
            -1.6054383516311646,
            0.5053998231887817,
            142.89718627929688
        ],
        "velocity": [
            -5.819366455078125,
            3.401522159576416,
            0.03323863074183464
        ],
        "speed": 6.740577048041061,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.886974334716797,
        "front_vehicle_info": {
            "id": 4544,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1593.2679443359375,
                5820.34375,
                376.20623779296875
            ],
            "velocity": [
                -10.609797477722168,
                4.6290364265441895,
                0.056295279413461685
            ],
            "speed_kmh": 41.672849565381036,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1617.3563232421875,
                        "y": 5833.85107421875,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2351975440979004,
                        "yaw": -23.571086883544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1504.720458984375,
                        "y": 5781.70849609375,
                        "z": 375.70306396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.556947708129883,
                "transform": {
                    "location": {
                        "x": -1524.9324951171875,
                        "y": 5790.52734375,
                        "z": 375.8316955566406
                    },
                    "rotation": {
                        "roll": 0.00047537958016619086,
                        "pitch": 0.24745774269104004,
                        "yaw": 156.43453979492188
                    }
                },
                "velocity": {
                    "x": -8.758953094482422,
                    "y": 3.822810173034668,
                    "z": 0.04594387859106064
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.485698938369751,
                "transform": {
                    "location": {
                        "x": -1552.26123046875,
                        "y": 5802.44970703125,
                        "z": 375.9418029785156
                    },
                    "rotation": {
                        "roll": 0.00034896464785560966,
                        "pitch": 0.2975366711616516,
                        "yaw": 156.4320831298828
                    }
                },
                "velocity": {
                    "x": -3.194791555404663,
                    "y": 1.3939473628997803,
                    "z": 0.017776746302843094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023108324967324734,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": 7.821246867933951e-07,
                    "y": -2.6898635042016394e-05,
                    "z": 0.00022951104620005935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.57579231262207,
                "transform": {
                    "location": {
                        "x": -1593.2679443359375,
                        "y": 5820.34375,
                        "z": 376.20623779296875
                    },
                    "rotation": {
                        "roll": -0.0007019070326350629,
                        "pitch": 0.2811305820941925,
                        "yaw": 156.4215087890625
                    }
                },
                "velocity": {
                    "x": -10.609797477722168,
                    "y": 4.6290364265441895,
                    "z": 0.056295279413461685
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8723179697990417,
        "expert_target_speed": 7.566165327505827,
        "target_point": [
            48.87340814335874,
            12.165894307178098
        ],
        "target_point_next": [
            49.84560972008862,
            12.399828889726681
        ]
    },
    "475": {
        "acceleration": [
            -2.0082664489746094,
            -3.8969945907592773,
            -0.0010425597429275513
        ],
        "angular_velocity": [
            -0.08357873558998108,
            -0.29929807782173157,
            42.64406204223633
        ],
        "forward_vector": [
            -0.8921723365783691,
            0.4516458213329315,
            0.006681511178612709
        ],
        "right_vector": [
            -0.4512917697429657,
            -0.8919029831886292,
            0.02906632237136364
        ],
        "location": [
            -1572.7408447265625,
            5811.90966796875,
            376.05804443359375
        ],
        "rotation": [
            -1.6656492948532104,
            0.38282525539398193,
            153.1500244140625
        ],
        "velocity": [
            -6.439677715301514,
            2.4464447498321533,
            0.033544719219207764
        ],
        "speed": 6.888725643464997,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.085603713989258,
        "front_vehicle_info": {
            "id": 4544,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1595.9202880859375,
                5821.5,
                376.2203369140625
            ],
            "velocity": [
                -10.61055850982666,
                4.628019332885742,
                0.0564115047454834
            ],
            "speed_kmh": 41.67389871774385,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3361433744430542,
                "transform": {
                    "location": {
                        "x": -1617.356689453125,
                        "y": 5833.85107421875,
                        "z": 376.2899169921875
                    },
                    "rotation": {
                        "roll": -0.0010375970741733909,
                        "pitch": -0.23370173573493958,
                        "yaw": -23.571054458618164
                    }
                },
                "velocity": {
                    "x": -0.005023415666073561,
                    "y": 0.002082214690744877,
                    "z": -1.336132287979126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1507.121337890625,
                        "y": 5782.75634765625,
                        "z": 375.71136474609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25982722640037537,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.2496919631958,
                "transform": {
                    "location": {
                        "x": -1527.113525390625,
                        "y": 5791.478515625,
                        "z": 375.8431701660156
                    },
                    "rotation": {
                        "roll": 0.0012042123125866055,
                        "pitch": 0.24854373931884766,
                        "yaw": 156.4290771484375
                    }
                },
                "velocity": {
                    "x": -8.477259635925293,
                    "y": 3.700120687484741,
                    "z": 0.04437683895230293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.271310567855835,
                "transform": {
                    "location": {
                        "x": -1553.0302734375,
                        "y": 5802.78564453125,
                        "z": 375.9461364746094
                    },
                    "rotation": {
                        "roll": 0.0007209478644654155,
                        "pitch": 0.29373225569725037,
                        "yaw": 156.42599487304688
                    }
                },
                "velocity": {
                    "x": -2.998382568359375,
                    "y": 1.3080025911331177,
                    "z": 0.017423667013645172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008630992961116135,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": 1.1250823263253551e-05,
                    "y": -1.252808579010889e-05,
                    "z": 0.0008629350340925157
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.576083183288574,
                "transform": {
                    "location": {
                        "x": -1595.9202880859375,
                        "y": 5821.5,
                        "z": 376.2203369140625
                    },
                    "rotation": {
                        "roll": 6.337343802442774e-05,
                        "pitch": 0.28122618794441223,
                        "yaw": 156.44244384765625
                    }
                },
                "velocity": {
                    "x": -10.61055850982666,
                    "y": 4.628019332885742,
                    "z": 0.0564115047454834
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.470877081155777,
        "expert_target_speed": 7.694209227219801,
        "target_point": [
            48.56000243834834,
            3.263206974794887
        ],
        "target_point_next": [
            49.558318351002086,
            3.320361443129091
        ]
    },
    "480": {
        "acceleration": [
            0.404052734375,
            -2.6284003257751465,
            0.0011929124593734741
        ],
        "angular_velocity": [
            1.4936429262161255,
            -1.1095116138458252,
            24.891420364379883
        ],
        "forward_vector": [
            -0.949320375919342,
            0.31427356600761414,
            0.0047924332320690155
        ],
        "right_vector": [
            -0.3140811622142792,
            -0.9491005539894104,
            0.023690057918429375
        ],
        "location": [
            -1574.3656005859375,
            5812.44287109375,
            376.06689453125
        ],
        "rotation": [
            -1.35748291015625,
            0.2745872437953949,
            161.6828155517578
        ],
        "velocity": [
            -6.5778093338012695,
            1.6570611000061035,
            0.033272143453359604
        ],
        "speed": 6.783319771394869,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.273969650268555,
        "front_vehicle_info": {
            "id": 4544,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1598.5726318359375,
                5822.65625,
                376.2342224121094
            ],
            "velocity": [
                -10.609711647033691,
                4.629750728607178,
                0.0554703027009964
            ],
            "speed_kmh": 41.67358040722596,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2466813176870346,
                "transform": {
                    "location": {
                        "x": -1617.3568115234375,
                        "y": 5833.85107421875,
                        "z": 376.2592468261719
                    },
                    "rotation": {
                        "roll": -0.0007934590103104711,
                        "pitch": -0.23273184895515442,
                        "yaw": -23.571054458618164
                    }
                },
                "velocity": {
                    "x": 0.0009302028920501471,
                    "y": -0.0004248154873494059,
                    "z": 0.24667920172214508
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1509.317138671875,
                        "y": 5783.71435546875,
                        "z": 375.71826171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25982722640037537,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.400069236755371,
                "transform": {
                    "location": {
                        "x": -1529.1240234375,
                        "y": 5792.35595703125,
                        "z": 375.854248046875
                    },
                    "rotation": {
                        "roll": -0.0007629383471794426,
                        "pitch": 0.20693422853946686,
                        "yaw": 156.42724609375
                    }
                },
                "velocity": {
                    "x": -7.699018955230713,
                    "y": 3.359250783920288,
                    "z": 0.04118949919939041
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1122753620147705,
                "transform": {
                    "location": {
                        "x": -1553.762451171875,
                        "y": 5803.10498046875,
                        "z": 375.9503173828125
                    },
                    "rotation": {
                        "roll": 9.189526463160291e-05,
                        "pitch": 0.29435381293296814,
                        "yaw": 156.43032836914062
                    }
                },
                "velocity": {
                    "x": -2.8523995876312256,
                    "y": 1.2449073791503906,
                    "z": 0.01671932265162468
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000669265107717365,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": -4.041045940539334e-06,
                    "y": 6.607212071685353e-06,
                    "z": 0.0006692202878184617
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.575994491577148,
                "transform": {
                    "location": {
                        "x": -1598.5726318359375,
                        "y": 5822.65625,
                        "z": 376.2342224121094
                    },
                    "rotation": {
                        "roll": -0.001464845146983862,
                        "pitch": 0.2721898555755615,
                        "yaw": 156.42706298828125
                    }
                },
                "velocity": {
                    "x": -10.609711647033691,
                    "y": 4.629750728607178,
                    "z": 0.0554703027009964
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009206903167068958,
        "expert_target_speed": 7.612262258805047,
        "target_point": [
            46.79667157392065,
            -3.9824607876654756
        ],
        "target_point_next": [
            47.79241755311857,
            -4.074064497303464
        ]
    },
    "485": {
        "acceleration": [
            2.497425079345703,
            0.2715182304382324,
            0.0020532310009002686
        ],
        "angular_velocity": [
            3.145146131515503,
            -1.2478415966033936,
            9.283574104309082
        ],
        "forward_vector": [
            -0.9700316190719604,
            0.24296516180038452,
            0.002576228929683566
        ],
        "right_vector": [
            -0.24292537569999695,
            -0.9699861407279968,
            0.01068862248212099
        ],
        "location": [
            -1575.9561767578125,
            5812.83740234375,
            376.07537841796875
        ],
        "rotation": [
            -0.6124266982078552,
            0.1476072072982788,
            165.93833923339844
        ],
        "velocity": [
            -6.151151657104492,
            1.441410779953003,
            0.03304785490036011
        ],
        "speed": 6.317779019977199,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.54986000061035,
        "front_vehicle_info": {
            "id": 4544,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1601.2249755859375,
                5823.8125,
                376.2478942871094
            ],
            "velocity": [
                -10.610239028930664,
                4.62858247756958,
                0.05487915873527527
            ],
            "speed_kmh": 41.67362856811288,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.059105824679136276,
                "transform": {
                    "location": {
                        "x": -1617.3568115234375,
                        "y": 5833.85107421875,
                        "z": 376.2969970703125
                    },
                    "rotation": {
                        "roll": 0.00010199010284850374,
                        "pitch": -0.23330558836460114,
                        "yaw": -23.571054458618164
                    }
                },
                "velocity": {
                    "x": 0.00018552046094555408,
                    "y": -0.0002391106536379084,
                    "z": 0.059105049818754196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1511.660400390625,
                        "y": 5784.736328125,
                        "z": 375.7298278808594
                    },
                    "rotation": {
                        "roll": 6.670176855294585e-09,
                        "pitch": 0.2642873227596283,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.141498565673828,
                "transform": {
                    "location": {
                        "x": -1531.011962890625,
                        "y": 5793.1796875,
                        "z": 375.8639831542969
                    },
                    "rotation": {
                        "roll": -0.0001220706762978807,
                        "pitch": 0.23928199708461761,
                        "yaw": 156.4279022216797
                    }
                },
                "velocity": {
                    "x": -7.462050437927246,
                    "y": 3.2557852268218994,
                    "z": 0.04074615240097046
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.944132089614868,
                "transform": {
                    "location": {
                        "x": -1554.4547119140625,
                        "y": 5803.4072265625,
                        "z": 375.95428466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29462018609046936,
                        "yaw": 156.42335510253906
                    }
                },
                "velocity": {
                    "x": -2.6983959674835205,
                    "y": 1.1774179935455322,
                    "z": 0.016101913526654243
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9978983402252197,
                "transform": {
                    "location": {
                        "x": -1606.44482421875,
                        "y": 5829.091796875,
                        "z": 376.27886962890625
                    },
                    "rotation": {
                        "roll": -0.005615236237645149,
                        "pitch": -0.16726449131965637,
                        "yaw": -23.514442443847656
                    }
                },
                "velocity": {
                    "x": 0.9221217632293701,
                    "y": -0.38140636682510376,
                    "z": -0.0046643540263175964
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.576007843017578,
                "transform": {
                    "location": {
                        "x": -1601.2249755859375,
                        "y": 5823.8125,
                        "z": 376.2478942871094
                    },
                    "rotation": {
                        "roll": -0.00039672572165727615,
                        "pitch": 0.27227863669395447,
                        "yaw": 156.43756103515625
                    }
                },
                "velocity": {
                    "x": -10.610239028930664,
                    "y": 4.62858247756958,
                    "z": 0.05487915873527527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.36184102296829224,
        "expert_target_speed": 7.224899588164303,
        "target_point": [
            44.73336075678065,
            -7.447788275723125
        ],
        "target_point_next": [
            45.71956396714314,
            -7.613029077521489
        ]
    },
    "490": {
        "acceleration": [
            7.964754104614258,
            -0.14889240264892578,
            -0.041297897696495056
        ],
        "angular_velocity": [
            1.4407291412353516,
            -2.26094913482666,
            -15.935221672058105
        ],
        "forward_vector": [
            -0.9639303684234619,
            0.26615405082702637,
            0.00044393533607944846
        ],
        "right_vector": [
            -0.26615387201309204,
            -0.9639236927032471,
            -0.0036375909112393856
        ],
        "location": [
            -1577.408447265625,
            5813.23876953125,
            376.08343505859375
        ],
        "rotation": [
            0.2084190845489502,
            0.02543562278151512,
            164.56446838378906
        ],
        "velocity": [
            -5.184831619262695,
            1.6891474723815918,
            0.02736053429543972
        ],
        "speed": 5.453044847015229,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4581382274627686,
                "transform": {
                    "location": {
                        "x": -1617.03564453125,
                        "y": 5833.71533203125,
                        "z": 376.30126953125
                    },
                    "rotation": {
                        "roll": 0.00486524123698473,
                        "pitch": -0.43316373229026794,
                        "yaw": -23.46305274963379
                    }
                },
                "velocity": {
                    "x": 2.267042398452759,
                    "y": -0.9501664042472839,
                    "z": -0.01209231372922659
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.488537311553955,
                "transform": {
                    "location": {
                        "x": -1513.8399658203125,
                        "y": 5785.6865234375,
                        "z": 375.7361145019531
                    },
                    "rotation": {
                        "roll": 0.0008185550686903298,
                        "pitch": -0.018646415323019028,
                        "yaw": 156.4254608154297
                    }
                },
                "velocity": {
                    "x": -5.947653770446777,
                    "y": 2.5935561656951904,
                    "z": 0.0006773376371711493
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.714177131652832,
                "transform": {
                    "location": {
                        "x": -1532.8333740234375,
                        "y": 5793.97412109375,
                        "z": 375.8737487792969
                    },
                    "rotation": {
                        "roll": -0.00027465741732157767,
                        "pitch": 0.24182283878326416,
                        "yaw": 156.43162536621094
                    }
                },
                "velocity": {
                    "x": -7.070662498474121,
                    "y": 3.0842669010162354,
                    "z": 0.039517298340797424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7905359268188477,
                "transform": {
                    "location": {
                        "x": -1555.1112060546875,
                        "y": 5803.69384765625,
                        "z": 375.95819091796875
                    },
                    "rotation": {
                        "roll": -0.003479007165879011,
                        "pitch": 0.29635506868362427,
                        "yaw": 156.43157958984375
                    }
                },
                "velocity": {
                    "x": -2.5575435161590576,
                    "y": 1.1161868572235107,
                    "z": 0.013719606213271618
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8959288597106934,
                "transform": {
                    "location": {
                        "x": -1606.106201171875,
                        "y": 5828.94873046875,
                        "z": 376.277099609375
                    },
                    "rotation": {
                        "roll": -0.0009460413712076843,
                        "pitch": -0.15582393109798431,
                        "yaw": -23.389442443847656
                    }
                },
                "velocity": {
                    "x": 1.744716763496399,
                    "y": -0.7419316172599792,
                    "z": -0.006848135031759739
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.42798882722854614,
        "expert_target_speed": 6.485323058967609,
        "target_point": [
            43.39236194479428,
            -6.372717343382812
        ],
        "target_point_next": [
            44.38224359499845,
            -6.514264555638405
        ]
    },
    "495": {
        "acceleration": [
            2.616281509399414,
            0.2203989028930664,
            -0.012832805514335632
        ],
        "angular_velocity": [
            0.12435857951641083,
            0.24143335223197937,
            -12.157512664794922
        ],
        "forward_vector": [
            -0.9477834105491638,
            0.3189046382904053,
            -0.0025294991210103035
        ],
        "right_vector": [
            -0.31888169050216675,
            -0.9477697014808655,
            -0.006859428249299526
        ],
        "location": [
            -1578.5438232421875,
            5813.6474609375,
            376.0897521972656
        ],
        "rotation": [
            0.3930206298828125,
            -0.14492978155612946,
            161.4032440185547
        ],
        "velocity": [
            -4.063919544219971,
            1.6822177171707153,
            0.021410303190350533
        ],
        "speed": 4.398329058842245,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.599593162536621,
                "transform": {
                    "location": {
                        "x": -1616.330078125,
                        "y": 5833.41796875,
                        "z": 376.2969055175781
                    },
                    "rotation": {
                        "roll": 0.0018952165264636278,
                        "pitch": -0.3677031993865967,
                        "yaw": -23.233505249023438
                    }
                },
                "velocity": {
                    "x": 3.3200533390045166,
                    "y": -1.390704870223999,
                    "z": -0.0160231776535511
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.994818687438965,
                "transform": {
                    "location": {
                        "x": -1515.2110595703125,
                        "y": 5786.28466796875,
                        "z": 375.738037109375
                    },
                    "rotation": {
                        "roll": 8.653826080262661e-05,
                        "pitch": 0.15109743177890778,
                        "yaw": 156.4216766357422
                    }
                },
                "velocity": {
                    "x": -5.494357585906982,
                    "y": 2.3978021144866943,
                    "z": 0.020718269050121307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.256401538848877,
                "transform": {
                    "location": {
                        "x": -1534.54345703125,
                        "y": 5794.720703125,
                        "z": 375.88299560546875
                    },
                    "rotation": {
                        "roll": -0.0017395052127540112,
                        "pitch": 0.23724660277366638,
                        "yaw": 156.4324493408203
                    }
                },
                "velocity": {
                    "x": -6.651031494140625,
                    "y": 2.9013423919677734,
                    "z": 0.03679529204964638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.767331838607788,
                "transform": {
                    "location": {
                        "x": -1555.738037109375,
                        "y": 5803.96728515625,
                        "z": 375.9615783691406
                    },
                    "rotation": {
                        "roll": -0.0035095238126814365,
                        "pitch": 0.29809674620628357,
                        "yaw": 156.4232635498047
                    }
                },
                "velocity": {
                    "x": -2.536426305770874,
                    "y": 1.1065553426742554,
                    "z": 0.014241227880120277
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0320582389831543,
                "transform": {
                    "location": {
                        "x": -1605.541015625,
                        "y": 5828.70751953125,
                        "z": 376.2742614746094
                    },
                    "rotation": {
                        "roll": -0.0030212383717298508,
                        "pitch": -0.13910362124443054,
                        "yaw": -23.294231414794922
                    }
                },
                "velocity": {
                    "x": 2.7905709743499756,
                    "y": -1.1857002973556519,
                    "z": -0.01430322602391243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.34859326481819153,
        "expert_target_speed": 5.512754560545005,
        "target_point": [
            42.471331408769245,
            -3.9448555014472255
        ],
        "target_point_next": [
            43.46751246883842,
            -4.031599897621808
        ]
    },
    "500": {
        "acceleration": [
            1.8167972564697266,
            0.08119583129882812,
            0.002756677567958832
        ],
        "angular_velocity": [
            -0.07461383938789368,
            0.515658438205719,
            -11.366902351379395
        ],
        "forward_vector": [
            -0.930174708366394,
            0.36711710691452026,
            0.00021243093942757696
        ],
        "right_vector": [
            -0.367111474275589,
            -0.930156946182251,
            -0.006101400591433048
        ],
        "location": [
            -1579.51123046875,
            5814.06884765625,
            376.0943908691406
        ],
        "rotation": [
            0.3495866656303406,
            0.012171396054327488,
            158.46206665039062
        ],
        "velocity": [
            -3.650663375854492,
            1.7521073818206787,
            0.02122165635228157
        ],
        "speed": 4.049348510715746,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.671429634094238,
                "transform": {
                    "location": {
                        "x": -1615.3656005859375,
                        "y": 5833.01220703125,
                        "z": 376.29217529296875
                    },
                    "rotation": {
                        "roll": 0.0002842051035258919,
                        "pitch": -0.3463793694972992,
                        "yaw": -23.027690887451172
                    }
                },
                "velocity": {
                    "x": 4.308987140655518,
                    "y": -1.8040435314178467,
                    "z": -0.01767702028155327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.159549236297607,
                "transform": {
                    "location": {
                        "x": -1516.5384521484375,
                        "y": 5786.8642578125,
                        "z": 375.74371337890625
                    },
                    "rotation": {
                        "roll": 0.00030034338124096394,
                        "pitch": 0.1998923122882843,
                        "yaw": 156.41770935058594
                    }
                },
                "velocity": {
                    "x": -4.7287983894348145,
                    "y": 2.063694953918457,
                    "z": 0.023998823016881943
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.888008117675781,
                "transform": {
                    "location": {
                        "x": -1536.1602783203125,
                        "y": 5795.42529296875,
                        "z": 375.8917541503906
                    },
                    "rotation": {
                        "roll": -0.0007019018521532416,
                        "pitch": 0.24768313765525818,
                        "yaw": 156.43701171875
                    }
                },
                "velocity": {
                    "x": -6.313582420349121,
                    "y": 2.7535576820373535,
                    "z": 0.03530903905630112
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3893353939056396,
                "transform": {
                    "location": {
                        "x": -1556.4403076171875,
                        "y": 5804.2734375,
                        "z": 375.96533203125
                    },
                    "rotation": {
                        "roll": -0.0031127911061048508,
                        "pitch": 0.3110126554965973,
                        "yaw": 156.42991638183594
                    }
                },
                "velocity": {
                    "x": -3.1063973903656006,
                    "y": 1.3555779457092285,
                    "z": 0.017243823036551476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.427635669708252,
                "transform": {
                    "location": {
                        "x": -1604.6724853515625,
                        "y": 5828.33740234375,
                        "z": 376.2696838378906
                    },
                    "rotation": {
                        "roll": -0.00308227282948792,
                        "pitch": -0.11853109300136566,
                        "yaw": -23.18214225769043
                    }
                },
                "velocity": {
                    "x": 4.07521915435791,
                    "y": -1.7309404611587524,
                    "z": -0.01979016326367855
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.25231432914733887,
        "expert_target_speed": 5.182105851779009,
        "target_point": [
            41.56324398791554,
            -1.7235856547278487
        ],
        "target_point_next": [
            42.562563756189384,
            -1.759100376258198
        ]
    },
    "505": {
        "acceleration": [
            0.3065967559814453,
            -0.3748774528503418,
            -0.00870686024427414
        ],
        "angular_velocity": [
            -0.5801345109939575,
            0.7717027068138123,
            -7.878967761993408
        ],
        "forward_vector": [
            -0.9128840565681458,
            0.4082154333591461,
            0.001685737632215023
        ],
        "right_vector": [
            -0.4082189202308655,
            -0.9128758311271667,
            -0.0038748979568481445
        ],
        "location": [
            -1580.37744140625,
            5814.49462890625,
            376.0990295410156
        ],
        "rotation": [
            0.22201618552207947,
            0.0965856984257698,
            155.9071807861328
        ],
        "velocity": [
            -3.334627866744995,
            1.720523476600647,
            0.019132623448967934
        ],
        "speed": 3.752325151583516,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6330955028533936,
                "transform": {
                    "location": {
                        "x": -1614.383056640625,
                        "y": 5832.59228515625,
                        "z": 376.2865905761719
                    },
                    "rotation": {
                        "roll": -0.006042477209120989,
                        "pitch": -0.17327505350112915,
                        "yaw": -23.08115577697754
                    }
                },
                "velocity": {
                    "x": 3.340376615524292,
                    "y": -1.4286342859268188,
                    "z": -0.016487006098031998
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4550,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.619462013244629,
                "transform": {
                    "location": {
                        "x": -1517.6318359375,
                        "y": 5787.34130859375,
                        "z": 375.7490234375
                    },
                    "rotation": {
                        "roll": 0.0001812615228118375,
                        "pitch": 0.22401653230190277,
                        "yaw": 156.36309814453125
                    }
                },
                "velocity": {
                    "x": -4.232989311218262,
                    "y": 1.8495347499847412,
                    "z": 0.02124481089413166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4549,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.583812713623047,
                "transform": {
                    "location": {
                        "x": -1537.704345703125,
                        "y": 5796.09912109375,
                        "z": 375.9001159667969
                    },
                    "rotation": {
                        "roll": 0.00032415357418358326,
                        "pitch": 0.24966388940811157,
                        "yaw": 156.4375
                    }
                },
                "velocity": {
                    "x": -6.034773826599121,
                    "y": 2.631913661956787,
                    "z": 0.0335598923265934
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4548,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.1160502433776855,
                "transform": {
                    "location": {
                        "x": -1557.3037109375,
                        "y": 5804.64990234375,
                        "z": 375.9703063964844
                    },
                    "rotation": {
                        "roll": -0.008331293240189552,
                        "pitch": 0.31698906421661377,
                        "yaw": 156.42562866210938
                    }
                },
                "velocity": {
                    "x": -3.7724153995513916,
                    "y": 1.646297574043274,
                    "z": 0.02133408561348915
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.264631748199463,
                "transform": {
                    "location": {
                        "x": -1603.515380859375,
                        "y": 5827.845703125,
                        "z": 376.26458740234375
                    },
                    "rotation": {
                        "roll": -0.0015869144117459655,
                        "pitch": -0.15875408053398132,
                        "yaw": -23.091991424560547
                    }
                },
                "velocity": {
                    "x": 4.845756530761719,
                    "y": -2.0577609539031982,
                    "z": -0.024762820452451706
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.14913669228553772,
        "expert_target_speed": 4.89789254896244,
        "target_point": [
            40.634198407256235,
            0.165965829866197
        ],
        "target_point_next": [
            41.63410794609413,
            0.17503273944125297
        ]
    },
    "510": {
        "acceleration": [
            -0.6293392181396484,
            0.39052486419677734,
            -0.006214156746864319
        ],
        "angular_velocity": [
            0.23974363505840302,
            0.47211048007011414,
            -1.1964722871780396
        ],
        "forward_vector": [
            -0.9082875847816467,
            0.418325275182724,
            0.004181730095297098
        ],
        "right_vector": [
            -0.4183270037174225,
            -0.9082963466644287,
            0.0004969413857907057
        ],
        "location": [
            -1581.23486328125,
            5814.90283203125,
            376.103271484375
        ],
        "rotation": [
            -0.028472892940044403,
            0.2395961880683899,
            155.2708740234375
        ],
        "velocity": [
            -3.4969799518585205,
            1.6472811698913574,
            0.017800768837332726
        ],
        "speed": 3.8655405878581925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.357703685760498,
                "transform": {
                    "location": {
                        "x": -1613.7047119140625,
                        "y": 5832.30224609375,
                        "z": 376.2828063964844
                    },
                    "rotation": {
                        "roll": -0.0025939932093024254,
                        "pitch": -0.11840815097093582,
                        "yaw": -23.095870971679688
                    }
                },
                "velocity": {
                    "x": 2.167848825454712,
                    "y": -0.9268685579299927,
                    "z": -0.010618628934025764
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.701612949371338,
                "transform": {
                    "location": {
                        "x": -1602.2567138671875,
                        "y": 5827.310546875,
                        "z": 376.2585144042969
                    },
                    "rotation": {
                        "roll": -0.0017700218595564365,
                        "pitch": -0.21472065150737762,
                        "yaw": -23.03169059753418
                    }
                },
                "velocity": {
                    "x": 5.248596668243408,
                    "y": -2.2270915508270264,
                    "z": -0.02620531991124153
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13468308746814728,
        "expert_target_speed": 5.0061059351688195,
        "target_point": [
            39.6802938646497,
            0.6292955662188113
        ],
        "target_point_next": [
            40.68004105238538,
            0.6494662212121973
        ]
    },
    "515": {
        "acceleration": [
            -0.7609462738037109,
            0.22375106811523438,
            -0.006143935024738312
        ],
        "angular_velocity": [
            0.10288813710212708,
            0.20234954357147217,
            0.4891935884952545
        ],
        "forward_vector": [
            -0.907735288143158,
            0.4195040762424469,
            0.00573369674384594
        ],
        "right_vector": [
            -0.4195061922073364,
            -0.9077520370483398,
            0.0008852198370732367
        ],
        "location": [
            -1582.134765625,
            5815.3212890625,
            376.1078186035156
        ],
        "rotation": [
            -0.050720199942588806,
            0.32851842045783997,
            155.1962890625
        ],
        "velocity": [
            -3.691307783126831,
            1.6927012205123901,
            0.01772349327802658
        ],
        "speed": 4.060910066930424,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6669731140136719,
                "transform": {
                    "location": {
                        "x": -1613.2724609375,
                        "y": 5832.1181640625,
                        "z": 376.2811584472656
                    },
                    "rotation": {
                        "roll": -0.0016479496844112873,
                        "pitch": -0.1618003398180008,
                        "yaw": -23.118722915649414
                    }
                },
                "velocity": {
                    "x": 1.5326268672943115,
                    "y": -0.6555835008621216,
                    "z": -0.008016890846192837
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.927121639251709,
                "transform": {
                    "location": {
                        "x": -1600.7196044921875,
                        "y": 5826.65625,
                        "z": 376.24932861328125
                    },
                    "rotation": {
                        "roll": 0.009698813781142235,
                        "pitch": -0.06552883237600327,
                        "yaw": -23.086345672607422
                    }
                },
                "velocity": {
                    "x": 7.2830963134765625,
                    "y": -3.129600763320923,
                    "z": -0.03702177107334137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11909645050764084,
        "expert_target_speed": 5.192220816391816,
        "target_point": [
            38.68700714116818,
            0.6832849405977104
        ],
        "target_point_next": [
            39.686727224367345,
            0.7047570144726265
        ]
    },
    "520": {
        "acceleration": [
            -0.6943130493164062,
            0.27217864990234375,
            0.015042275190353394
        ],
        "angular_velocity": [
            0.07815288752317429,
            0.04140053316950798,
            0.5873199701309204
        ],
        "forward_vector": [
            -0.9087409973144531,
            0.4173130393028259,
            0.006289440672844648
        ],
        "right_vector": [
            -0.41731753945350647,
            -0.9087604880332947,
            0.0006423417944461107
        ],
        "location": [
            -1583.0814208984375,
            5815.75341796875,
            376.11260986328125
        ],
        "rotation": [
            -0.0368042029440403,
            0.3603607714176178,
            155.33441162109375
        ],
        "velocity": [
            -3.87113618850708,
            1.7613978385925293,
            0.021603945642709732
        ],
        "speed": 4.253024539756097,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.279344081878662,
                "transform": {
                    "location": {
                        "x": -1612.83056640625,
                        "y": 5831.92919921875,
                        "z": 376.2800598144531
                    },
                    "rotation": {
                        "roll": -0.0012817397946491838,
                        "pitch": -0.2821960747241974,
                        "yaw": -23.112590789794922
                    }
                },
                "velocity": {
                    "x": 2.0964560508728027,
                    "y": -0.8945316672325134,
                    "z": -0.00974767655134201
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.294022560119629,
                "transform": {
                    "location": {
                        "x": -1598.8121337890625,
                        "y": 5825.8369140625,
                        "z": 376.2405700683594
                    },
                    "rotation": {
                        "roll": 0.004565651062875986,
                        "pitch": -0.1830422282218933,
                        "yaw": -23.251781463623047
                    }
                },
                "velocity": {
                    "x": 7.617519855499268,
                    "y": -3.2806341648101807,
                    "z": -0.040556520223617554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10392400622367859,
        "expert_target_speed": 5.374137831718604,
        "target_point": [
            37.64792364852511,
            0.5876724988029096
        ],
        "target_point_next": [
            38.64769258398711,
            0.6067347755140808
        ]
    },
    "525": {
        "acceleration": [
            -0.24829864501953125,
            0.37693262100219727,
            0.0009023398160934448
        ],
        "angular_velocity": [
            0.148682102560997,
            -0.14950937032699585,
            -1.8939584493637085
        ],
        "forward_vector": [
            -0.9073536396026611,
            0.4203225374221802,
            0.006192406173795462
        ],
        "right_vector": [
            -0.4203347861766815,
            -0.9073687791824341,
            -0.0007649323670193553
        ],
        "location": [
            -1584.0626220703125,
            5816.2099609375,
            376.1180114746094
        ],
        "rotation": [
            0.043828241527080536,
            0.3548009991645813,
            155.14453125
        ],
        "velocity": [
            -3.9579710960388184,
            1.8818551301956177,
            0.021455658599734306
        ],
        "speed": 4.382569329528318,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2144808769226074,
                "transform": {
                    "location": {
                        "x": -1612.1986083984375,
                        "y": 5831.65869140625,
                        "z": 376.27752685546875
                    },
                    "rotation": {
                        "roll": -0.0017395004397258162,
                        "pitch": -0.33700835704803467,
                        "yaw": -23.132516860961914
                    }
                },
                "velocity": {
                    "x": 2.9555251598358154,
                    "y": -1.2639485597610474,
                    "z": -0.013868246227502823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.781070709228516,
                "transform": {
                    "location": {
                        "x": -1596.9781494140625,
                        "y": 5825.04736328125,
                        "z": 376.2320556640625
                    },
                    "rotation": {
                        "roll": 0.0010430513648316264,
                        "pitch": -0.29168322682380676,
                        "yaw": -23.30487823486328
                    }
                },
                "velocity": {
                    "x": 7.145410537719727,
                    "y": -3.0800740718841553,
                    "z": -0.036248840391635895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05479295924305916,
        "expert_target_speed": 5.4959810176921735,
        "target_point": [
            36.56355685730668,
            0.7142593045091221
        ],
        "target_point_next": [
            37.56325713006683,
            0.7366347229752623
        ]
    },
    "530": {
        "acceleration": [
            -0.5146694183349609,
            0.3979921340942383,
            -0.002242662012577057
        ],
        "angular_velocity": [
            -0.00510789081454277,
            0.0377892330288887,
            -1.9010876417160034
        ],
        "forward_vector": [
            -0.9038035273551941,
            0.42790472507476807,
            0.006061397027224302
        ],
        "right_vector": [
            -0.42791733145713806,
            -0.9038174152374268,
            -0.0008980052662082016
        ],
        "location": [
            -1585.064208984375,
            5816.68994140625,
            376.12353515625
        ],
        "rotation": [
            0.051452863961458206,
            0.3472945988178253,
            154.6648406982422
        ],
        "velocity": [
            -4.05795431137085,
            1.974413514137268,
            0.02182236686348915
        ],
        "speed": 4.512793139285374,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1570.9779052734375,
                        "y": 5810.6162109375,
                        "z": 376.4376525878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.28906041383743286,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.332708358764648,
                "transform": {
                    "location": {
                        "x": -1611.328125,
                        "y": 5831.28662109375,
                        "z": 376.2735900878906
                    },
                    "rotation": {
                        "roll": -0.002319348743185401,
                        "pitch": -0.361173540353775,
                        "yaw": -23.135295867919922
                    }
                },
                "velocity": {
                    "x": 3.9837188720703125,
                    "y": -1.703530192375183,
                    "z": -0.01823098585009575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8121442794799805,
                "transform": {
                    "location": {
                        "x": -1595.1864013671875,
                        "y": 5824.2724609375,
                        "z": 376.2225341796875
                    },
                    "rotation": {
                        "roll": 0.0034216467756778,
                        "pitch": -0.28490766882896423,
                        "yaw": -23.40375518798828
                    }
                },
                "velocity": {
                    "x": 7.166706562042236,
                    "y": -3.109098196029663,
                    "z": -0.03773585334420204
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.013619980774819851,
        "expert_target_speed": 5.617886359365065,
        "target_point": [
            35.445651858199604,
            1.0255588444351087
        ],
        "target_point_next": [
            36.445129776888166,
            1.0563027017440803
        ]
    },
    "535": {
        "acceleration": [
            -0.614776611328125,
            0.46471595764160156,
            0.00900115817785263
        ],
        "angular_velocity": [
            0.02156069129705429,
            0.06258697807788849,
            -1.7904053926467896
        ],
        "forward_vector": [
            -0.9004619717597961,
            0.4348900616168976,
            0.006243068724870682
        ],
        "right_vector": [
            -0.4349024295806885,
            -0.9004773497581482,
            -0.0007099584327079356
        ],
        "location": [
            -1586.0977783203125,
            5817.19482421875,
            376.1291809082031
        ],
        "rotation": [
            0.040678419172763824,
            0.3577038049697876,
            154.22116088867188
        ],
        "velocity": [
            -4.201403617858887,
            2.0785129070281982,
            0.022189311683177948
        ],
        "speed": 4.6874308810734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.257858395576477,
                "transform": {
                    "location": {
                        "x": -1570.9783935546875,
                        "y": 5810.6162109375,
                        "z": 376.05206298828125
                    },
                    "rotation": {
                        "roll": -0.0001525873231003061,
                        "pitch": 0.2910138666629791,
                        "yaw": 156.42886352539062
                    }
                },
                "velocity": {
                    "x": -0.00563889741897583,
                    "y": 0.0026250313967466354,
                    "z": -1.257843017578125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.21646785736084,
                "transform": {
                    "location": {
                        "x": -1610.2054443359375,
                        "y": 5830.8056640625,
                        "z": 376.2684326171875
                    },
                    "rotation": {
                        "roll": -0.006317138206213713,
                        "pitch": -0.3535783886909485,
                        "yaw": -23.182933807373047
                    }
                },
                "velocity": {
                    "x": 4.78826904296875,
                    "y": -2.0696706771850586,
                    "z": -0.021838907152414322
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.2752366065979,
                "transform": {
                    "location": {
                        "x": -1593.4515380859375,
                        "y": 5823.52001953125,
                        "z": 376.2137145996094
                    },
                    "rotation": {
                        "roll": -6.10457718721591e-05,
                        "pitch": -0.3214423358440399,
                        "yaw": -23.450328826904297
                    }
                },
                "velocity": {
                    "x": 6.674167156219482,
                    "y": -2.8953857421875,
                    "z": -0.036135733127593994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08176495879888535,
        "expert_target_speed": 5.780519831993591,
        "target_point": [
            34.286367263646625,
            1.305132775183619
        ],
        "target_point_next": [
            35.285577160002234,
            1.3436149494108864
        ]
    },
    "540": {
        "acceleration": [
            -0.5068683624267578,
            0.24829864501953125,
            0.008922182023525238
        ],
        "angular_velocity": [
            -0.0819687768816948,
            -0.003952746745198965,
            -1.2653248310089111
        ],
        "forward_vector": [
            -0.8973538875579834,
            0.44126638770103455,
            0.006322580389678478
        ],
        "right_vector": [
            -0.44127801060676575,
            -0.8973702788352966,
            -0.0005038512172177434
        ],
        "location": [
            -1587.167724609375,
            5817.7265625,
            376.1349792480469
        ],
        "rotation": [
            0.02886912412941456,
            0.36225956678390503,
            153.81472778320312
        ],
        "velocity": [
            -4.341472148895264,
            2.1710774898529053,
            0.023288287222385406
        ],
        "speed": 4.854066118892413,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.13970769941806793,
                "transform": {
                    "location": {
                        "x": -1570.978515625,
                        "y": 5810.6162109375,
                        "z": 375.9973449707031
                    },
                    "rotation": {
                        "roll": 2.926881097664591e-05,
                        "pitch": 0.2931448817253113,
                        "yaw": 156.42884826660156
                    }
                },
                "velocity": {
                    "x": 0.0006696850177831948,
                    "y": -0.0002749750856310129,
                    "z": 0.1397058218717575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.808953762054443,
                "transform": {
                    "location": {
                        "x": -1608.9578857421875,
                        "y": 5830.2666015625,
                        "z": 376.2620544433594
                    },
                    "rotation": {
                        "roll": -0.0015258830972015858,
                        "pitch": -0.3138744831085205,
                        "yaw": -23.264503479003906
                    }
                },
                "velocity": {
                    "x": 5.332406044006348,
                    "y": -2.3040618896484375,
                    "z": -0.02626967802643776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.9180006980896,
                "transform": {
                    "location": {
                        "x": -1591.8336181640625,
                        "y": 5822.8173828125,
                        "z": 376.2051086425781
                    },
                    "rotation": {
                        "roll": 0.0026331066619604826,
                        "pitch": -0.32375776767730713,
                        "yaw": -23.47684669494629
                    }
                },
                "velocity": {
                    "x": 6.343371868133545,
                    "y": -2.760310649871826,
                    "z": -0.03246404975652695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15260781347751617,
        "expert_target_speed": 5.934616173943489,
        "target_point": [
            33.081463575731654,
            1.553348246513325
        ],
        "target_point_next": [
            34.08037534366655,
            1.598917694495718
        ]
    },
    "545": {
        "acceleration": [
            0.3077125549316406,
            -0.5663347244262695,
            -0.010092370212078094
        ],
        "angular_velocity": [
            -0.45743903517723083,
            -0.13660331070423126,
            1.2360162734985352
        ],
        "forward_vector": [
            -0.8971399664878845,
            0.441708505153656,
            0.005791631061583757
        ],
        "right_vector": [
            -0.44171181321144104,
            -0.8971567153930664,
            0.0007643144926987588
        ],
        "location": [
            -1588.265625,
            5818.2685546875,
            376.1410217285156
        ],
        "rotation": [
            -0.0437927320599556,
            0.33183789253234863,
            153.78659057617188
        ],
        "velocity": [
            -4.39508056640625,
            2.1347947120666504,
            0.025030650198459625
        ],
        "speed": 4.886111096554152,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1626402139663696,
                "transform": {
                    "location": {
                        "x": -1571.0928955078125,
                        "y": 5810.6650390625,
                        "z": 376.0290222167969
                    },
                    "rotation": {
                        "roll": -0.00814819149672985,
                        "pitch": 0.5934956073760986,
                        "yaw": 156.4456329345703
                    }
                },
                "velocity": {
                    "x": -1.0659122467041016,
                    "y": 0.4542944133281708,
                    "z": 0.09581151604652405
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9983625411987305,
                "transform": {
                    "location": {
                        "x": -1607.55712890625,
                        "y": 5829.66259765625,
                        "z": 376.2557373046875
                    },
                    "rotation": {
                        "roll": -0.0012207013787701726,
                        "pitch": -0.36828377842903137,
                        "yaw": -23.319133758544922
                    }
                },
                "velocity": {
                    "x": 6.424105167388916,
                    "y": -2.776153802871704,
                    "z": -0.030378064140677452
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.696447849273682,
                "transform": {
                    "location": {
                        "x": -1590.2724609375,
                        "y": 5822.138671875,
                        "z": 376.1966857910156
                    },
                    "rotation": {
                        "roll": 0.0007321612793020904,
                        "pitch": -0.3053572475910187,
                        "yaw": -23.50980567932129
                    }
                },
                "velocity": {
                    "x": 6.139895439147949,
                    "y": -2.6726367473602295,
                    "z": -0.03339964896440506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20541255176067352,
        "expert_target_speed": 5.9636910669165175,
        "target_point": [
            31.856304046470193,
            1.5708714044895107
        ],
        "target_point_next": [
            32.85519333480766,
            1.616930978444687
        ]
    },
    "550": {
        "acceleration": [
            0.7185554504394531,
            -0.4845738410949707,
            -0.019789673388004303
        ],
        "angular_velocity": [
            -0.07674013823270798,
            -0.2553640604019165,
            1.4781817197799683
        ],
        "forward_vector": [
            -0.8999751806259155,
            0.4359210729598999,
            0.004182922188192606
        ],
        "right_vector": [
            -0.4359202980995178,
            -0.8999845385551453,
            0.0011414203327149153
        ],
        "location": [
            -1589.3388671875,
            5818.7841796875,
            376.147216796875
        ],
        "rotation": [
            -0.0653991550207138,
            0.2396644949913025,
            154.1558380126953
        ],
        "velocity": [
            -4.205865859985352,
            1.9965027570724487,
            0.023704910650849342
        ],
        "speed": 4.655677275240222,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0498509407043457,
                "transform": {
                    "location": {
                        "x": -1571.4656982421875,
                        "y": 5810.82421875,
                        "z": 376.0439453125
                    },
                    "rotation": {
                        "roll": -0.011535647325217724,
                        "pitch": 0.6886401176452637,
                        "yaw": 156.56771850585938
                    }
                },
                "velocity": {
                    "x": -1.885802984237671,
                    "y": 0.8026222586631775,
                    "z": 0.03785644471645355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.152896881103516,
                "transform": {
                    "location": {
                        "x": -1605.7994384765625,
                        "y": 5828.90234375,
                        "z": 376.2474060058594
                    },
                    "rotation": {
                        "roll": -0.0036315948236733675,
                        "pitch": -0.38513386249542236,
                        "yaw": -23.36850929260254
                    }
                },
                "velocity": {
                    "x": 7.479272842407227,
                    "y": -3.244831085205078,
                    "z": -0.03585214912891388
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.364250659942627,
                "transform": {
                    "location": {
                        "x": -1588.7742919921875,
                        "y": 5821.486328125,
                        "z": 376.18878173828125
                    },
                    "rotation": {
                        "roll": -0.0006408668705262244,
                        "pitch": -0.3158552646636963,
                        "yaw": -23.5221004486084
                    }
                },
                "velocity": {
                    "x": 5.835355758666992,
                    "y": -2.5399439334869385,
                    "z": -0.03151924908161163
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22464093565940857,
        "expert_target_speed": 5.749355757437649,
        "target_point": [
            30.67509167690933,
            1.36175931798806
        ],
        "target_point_next": [
            31.674257030754994,
            1.4013811602309758
        ]
    },
    "555": {
        "acceleration": [
            0.5262565612792969,
            -0.37093400955200195,
            0.004025660455226898
        ],
        "angular_velocity": [
            -0.005182760301977396,
            -0.011820558458566666,
            1.393796682357788
        ],
        "forward_vector": [
            -0.9027170538902283,
            0.4302186667919159,
            0.003715148661285639
        ],
        "right_vector": [
            -0.43021807074546814,
            -0.9027245044708252,
            0.001001341501250863
        ],
        "location": [
            -1590.36962890625,
            5819.27099609375,
            376.1529541015625
        ],
        "rotation": [
            -0.0573730394244194,
            0.21286283433437347,
            154.51837158203125
        ],
        "velocity": [
            -4.059696674346924,
            1.8948806524276733,
            0.021890487521886826
        ],
        "speed": 4.480146177821456,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.268913745880127,
                "transform": {
                    "location": {
                        "x": -1572.0733642578125,
                        "y": 5811.08349609375,
                        "z": 376.050537109375
                    },
                    "rotation": {
                        "roll": -0.009857174940407276,
                        "pitch": 0.7705682516098022,
                        "yaw": 156.70553588867188
                    }
                },
                "velocity": {
                    "x": -3.0083556175231934,
                    "y": 1.2786706686019897,
                    "z": 0.0244121253490448
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.167400360107422,
                "transform": {
                    "location": {
                        "x": -1603.904541015625,
                        "y": 5828.08056640625,
                        "z": 376.2370910644531
                    },
                    "rotation": {
                        "roll": -0.0019531244179233909,
                        "pitch": -0.2837192118167877,
                        "yaw": -23.449140548706055
                    }
                },
                "velocity": {
                    "x": 7.490793704986572,
                    "y": -3.2547011375427246,
                    "z": -0.036819927394390106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.000974655151367,
                "transform": {
                    "location": {
                        "x": -1587.363037109375,
                        "y": 5820.87158203125,
                        "z": 376.1812438964844
                    },
                    "rotation": {
                        "roll": 0.00016568131104577333,
                        "pitch": -0.31715983152389526,
                        "yaw": -23.528728485107422
                    }
                },
                "velocity": {
                    "x": 5.501204490661621,
                    "y": -2.397411584854126,
                    "z": -0.029365848749876022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24838431179523468,
        "expert_target_speed": 5.584708069306608,
        "target_point": [
            29.543162667511712,
            1.1636371582414657
        ],
        "target_point_next": [
            30.542558729336836,
            1.196935901711548
        ]
    },
    "560": {
        "acceleration": [
            0.44438838958740234,
            -0.31934022903442383,
            -0.0005431845784187317
        ],
        "angular_velocity": [
            0.07959623634815216,
            -0.0034178674686700106,
            1.6318578720092773
        ],
        "forward_vector": [
            -0.9053494334220886,
            0.42465054988861084,
            0.0037817861884832382
        ],
        "right_vector": [
            -0.4246503710746765,
            -0.9053570032119751,
            0.0008868260192684829
        ],
        "location": [
            -1591.3682861328125,
            5819.73486328125,
            376.158203125
        ],
        "rotation": [
            -0.0508117601275444,
            0.21668091416358948,
            154.8712615966797
        ],
        "velocity": [
            -3.942232370376587,
            1.8107190132141113,
            0.021269941702485085
        ],
        "speed": 4.338190798807735,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.643965721130371,
                "transform": {
                    "location": {
                        "x": -1572.9962158203125,
                        "y": 5811.47607421875,
                        "z": 376.05609130859375
                    },
                    "rotation": {
                        "roll": -0.00808717031031847,
                        "pitch": 0.8706510066986084,
                        "yaw": 156.84402465820312
                    }
                },
                "velocity": {
                    "x": -4.274812698364258,
                    "y": 1.8143149614334106,
                    "z": 0.025664785876870155
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.873018741607666,
                "transform": {
                    "location": {
                        "x": -1602.0775146484375,
                        "y": 5827.28662109375,
                        "z": 376.2275390625
                    },
                    "rotation": {
                        "roll": 0.0011021789396181703,
                        "pitch": -0.2499985694885254,
                        "yaw": -23.475841522216797
                    }
                },
                "velocity": {
                    "x": 7.221275329589844,
                    "y": -3.136279344558716,
                    "z": -0.0368800051510334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.855806827545166,
                "transform": {
                    "location": {
                        "x": -1586.003662109375,
                        "y": 5820.27978515625,
                        "z": 376.1739501953125
                    },
                    "rotation": {
                        "roll": -0.0011291451519355178,
                        "pitch": -0.30782976746559143,
                        "yaw": -23.536327362060547
                    }
                },
                "velocity": {
                    "x": 5.368471145629883,
                    "y": -2.338623523712158,
                    "z": -0.028855204582214355
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2619040608406067,
        "expert_target_speed": 5.450680559051897,
        "target_point": [
            28.448645872679847,
            0.9775461333605833
        ],
        "target_point_next": [
            29.44822806039487,
            1.0046891750305988
        ]
    },
    "565": {
        "acceleration": [
            0.9182214736938477,
            -0.5252695083618164,
            0.009912103414535522
        ],
        "angular_velocity": [
            -0.045231837779283524,
            -0.12834151089191437,
            0.9845072627067566
        ],
        "forward_vector": [
            -0.9078314900398254,
            0.419319748878479,
            0.0035886685363948345
        ],
        "right_vector": [
            -0.419319748878479,
            -0.9078382253646851,
            0.0007973451865836978
        ],
        "location": [
            -1592.3333740234375,
            5820.17626953125,
            376.1633605957031
        ],
        "rotation": [
            -0.0456848107278347,
            0.20561599731445312,
            155.2081756591797
        ],
        "velocity": [
            -3.765995502471924,
            1.7023247480392456,
            0.0213205236941576
        ],
        "speed": 4.132872085175833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.416489601135254,
                "transform": {
                    "location": {
                        "x": -1574.19091796875,
                        "y": 5811.9833984375,
                        "z": 376.0634765625
                    },
                    "rotation": {
                        "roll": -0.006469732616096735,
                        "pitch": 0.7606030106544495,
                        "yaw": 156.97010803222656
                    }
                },
                "velocity": {
                    "x": -4.986804485321045,
                    "y": 2.1140878200531006,
                    "z": 0.027781380340456963
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.797842025756836,
                "transform": {
                    "location": {
                        "x": -1600.2601318359375,
                        "y": 5826.49658203125,
                        "z": 376.2182312011719
                    },
                    "rotation": {
                        "roll": -0.0002746577374637127,
                        "pitch": -0.25717025995254517,
                        "yaw": -23.50223731994629
                    }
                },
                "velocity": {
                    "x": 7.149383544921875,
                    "y": -3.1130850315093994,
                    "z": -0.03686278685927391
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.474259376525879,
                "transform": {
                    "location": {
                        "x": -1584.7056884765625,
                        "y": 5819.71435546875,
                        "z": 376.1670227050781
                    },
                    "rotation": {
                        "roll": -0.00030517534469254315,
                        "pitch": -0.31603965163230896,
                        "yaw": -23.542245864868164
                    }
                },
                "velocity": {
                    "x": 5.017947196960449,
                    "y": -2.1879069805145264,
                    "z": -0.027964506298303604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26317259669303894,
        "expert_target_speed": 5.2559324159786955,
        "target_point": [
            27.392667905762476,
            0.8062837493570978
        ],
        "target_point_next": [
            28.392392421282214,
            0.8275484566692768
        ]
    },
    "570": {
        "acceleration": [
            0.939173698425293,
            -0.5078959465026855,
            -0.003036707639694214
        ],
        "angular_velocity": [
            0.023551462218165398,
            -0.08524061739444733,
            1.6560337543487549
        ],
        "forward_vector": [
            -0.9101882576942444,
            0.4141829311847687,
            0.0031201785895973444
        ],
        "right_vector": [
            -0.41418296098709106,
            -0.9101933240890503,
            0.0006673848256468773
        ],
        "location": [
            -1593.2432861328125,
            5820.58544921875,
            376.16839599609375
        ],
        "rotation": [
            -0.038238525390625,
            0.17877335846424103,
            155.53199768066406
        ],
        "velocity": [
            -3.528747797012329,
            1.5720189809799194,
            0.019796952605247498
        ],
        "speed": 3.8630693355776713,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.415943622589111,
                "transform": {
                    "location": {
                        "x": -1575.5064697265625,
                        "y": 5812.541015625,
                        "z": 376.07086181640625
                    },
                    "rotation": {
                        "roll": -0.00405882578343153,
                        "pitch": 0.7191232442855835,
                        "yaw": 157.02359008789062
                    }
                },
                "velocity": {
                    "x": -5.9079413414001465,
                    "y": 2.5019171237945557,
                    "z": 0.03110318072140217
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.696364402770996,
                "transform": {
                    "location": {
                        "x": -1598.6925048828125,
                        "y": 5825.81494140625,
                        "z": 376.2087707519531
                    },
                    "rotation": {
                        "roll": 0.0014265889767557383,
                        "pitch": -0.08664094656705856,
                        "yaw": -23.523908615112305
                    }
                },
                "velocity": {
                    "x": 5.223158836364746,
                    "y": -2.2729780673980713,
                    "z": -0.027387585490942
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.286897659301758,
                "transform": {
                    "location": {
                        "x": -1583.4771728515625,
                        "y": 5819.1787109375,
                        "z": 376.1603698730469
                    },
                    "rotation": {
                        "roll": -0.0008239836897701025,
                        "pitch": -0.3106028437614441,
                        "yaw": -23.548072814941406
                    }
                },
                "velocity": {
                    "x": 4.846513748168945,
                    "y": -2.1123273372650146,
                    "z": -0.025761928409337997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2630106806755066,
        "expert_target_speed": 4.99834071304038,
        "target_point": [
            26.399115661432567,
            0.6470226615542707
        ],
        "target_point_next": [
            27.39894438811574,
            0.6626371422488333
        ]
    },
    "575": {
        "acceleration": [
            0.6147050857543945,
            -0.21992206573486328,
            -0.00957641750574112
        ],
        "angular_velocity": [
            0.12062017619609833,
            0.028768140822649002,
            0.27553269267082214
        ],
        "forward_vector": [
            -0.9121154546737671,
            0.409920871257782,
            0.003227108856663108
        ],
        "right_vector": [
            -0.40992167592048645,
            -0.9121206402778625,
            0.0004292993398848921
        ],
        "location": [
            -1594.10009765625,
            5820.96630859375,
            376.1729736328125
        ],
        "rotation": [
            -0.02459716796875,
            0.18490004539489746,
            155.8000030517578
        ],
        "velocity": [
            -3.3505187034606934,
            1.4823057651519775,
            0.017215976491570473
        ],
        "speed": 3.6637693655090677,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.974591255187988,
                "transform": {
                    "location": {
                        "x": -1577.1697998046875,
                        "y": 5813.25244140625,
                        "z": 376.0791015625
                    },
                    "rotation": {
                        "roll": 0.02537032589316368,
                        "pitch": 0.9049795269966125,
                        "yaw": 156.84896850585938
                    }
                },
                "velocity": {
                    "x": -7.327918529510498,
                    "y": 3.145501136779785,
                    "z": 0.03925411030650139
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.3792195320129395,
                "transform": {
                    "location": {
                        "x": -1597.5821533203125,
                        "y": 5825.33056640625,
                        "z": 376.2030334472656
                    },
                    "rotation": {
                        "roll": 0.00013930548448115587,
                        "pitch": -0.12045037746429443,
                        "yaw": -23.526256561279297
                    }
                },
                "velocity": {
                    "x": 4.0151896476745605,
                    "y": -1.7479544878005981,
                    "z": -0.021678179502487183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.033942222595215,
                "transform": {
                    "location": {
                        "x": -1582.293212890625,
                        "y": 5818.66259765625,
                        "z": 376.1540222167969
                    },
                    "rotation": {
                        "roll": -0.0011901840334758162,
                        "pitch": -0.3059992790222168,
                        "yaw": -23.55753517150879
                    }
                },
                "velocity": {
                    "x": 4.6143479347229,
                    "y": -2.011899709701538,
                    "z": -0.024965472519397736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2653134763240814,
        "expert_target_speed": 4.806687474557438,
        "target_point": [
            25.464215640950673,
            0.5196773016431848
        ],
        "target_point_next": [
            26.46410647468736,
            0.5306141804305806
        ]
    },
    "580": {
        "acceleration": [
            0.4656505584716797,
            -0.22877216339111328,
            0.0038055330514907837
        ],
        "angular_velocity": [
            0.029238693416118622,
            0.05363871157169342,
            0.9914274215698242
        ],
        "forward_vector": [
            -0.9130188226699829,
            0.40790143609046936,
            0.0036172785330563784
        ],
        "right_vector": [
            -0.40790361166000366,
            -0.9130250215530396,
            0.00015765805437695235
        ],
        "location": [
            -1594.9202880859375,
            5821.33056640625,
            376.1772155761719
        ],
        "rotation": [
            -0.009033200331032276,
            0.20725524425506592,
            155.9267578125
        ],
        "velocity": [
            -3.2216525077819824,
            1.4274625778198242,
            0.017626695334911346
        ],
        "speed": 3.5237330052054108,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.865606307983398,
                "transform": {
                    "location": {
                        "x": -1579.082763671875,
                        "y": 5814.07421875,
                        "z": 376.08978271484375
                    },
                    "rotation": {
                        "roll": 0.018457669764757156,
                        "pitch": 0.8135574460029602,
                        "yaw": 156.7499237060547
                    }
                },
                "velocity": {
                    "x": -8.143954277038574,
                    "y": 3.50327467918396,
                    "z": 0.045182619243860245
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.11232328414917,
                "transform": {
                    "location": {
                        "x": -1596.500244140625,
                        "y": 5824.859375,
                        "z": 376.1991271972656
                    },
                    "rotation": {
                        "roll": 0.00046182487858459353,
                        "pitch": -0.30880650877952576,
                        "yaw": -23.53583526611328
                    }
                },
                "velocity": {
                    "x": 4.686118125915527,
                    "y": -2.043456792831421,
                    "z": -0.02075759321451187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.781594753265381,
                "transform": {
                    "location": {
                        "x": -1581.13623046875,
                        "y": 5818.158203125,
                        "z": 376.14764404296875
                    },
                    "rotation": {
                        "roll": -0.00015258751227520406,
                        "pitch": -0.3049337863922119,
                        "yaw": -23.561809539794922
                    }
                },
                "velocity": {
                    "x": 4.382880210876465,
                    "y": -1.9113367795944214,
                    "z": -0.028304629027843475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2640947699546814,
        "expert_target_speed": 4.6712801092372525,
        "target_point": [
            24.567866450831506,
            0.46136530342039705
        ],
        "target_point_next": [
            25.56777903113552,
            0.4700903511577348
        ]
    },
    "585": {
        "acceleration": [
            0.21562576293945312,
            -0.12469053268432617,
            -0.004083625972270966
        ],
        "angular_velocity": [
            0.06960776448249817,
            0.07928218692541122,
            -0.17465892434120178
        ],
        "forward_vector": [
            -0.9137253761291504,
            0.4063127338886261,
            0.0039793141186237335
        ],
        "right_vector": [
            -0.40631532669067383,
            -0.9137329459190369,
            0.0001683105219854042
        ],
        "location": [
            -1595.7132568359375,
            5821.681640625,
            376.1813049316406
        ],
        "rotation": [
            -0.009643559344112873,
            0.2279985249042511,
            156.02638244628906
        ],
        "velocity": [
            -3.1381423473358154,
            1.383556842803955,
            0.017120636999607086
        ],
        "speed": 3.429601570067869,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.118647575378418,
                "transform": {
                    "location": {
                        "x": -1581.043701171875,
                        "y": 5814.91845703125,
                        "z": 376.1021423339844
                    },
                    "rotation": {
                        "roll": 0.021599117666482925,
                        "pitch": 0.333688884973526,
                        "yaw": 156.68177795410156
                    }
                },
                "velocity": {
                    "x": -7.451967716217041,
                    "y": 3.221646308898926,
                    "z": 0.040167130529880524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0676069259643555,
                "transform": {
                    "location": {
                        "x": -1595.3543701171875,
                        "y": 5824.35986328125,
                        "z": 376.19287109375
                    },
                    "rotation": {
                        "roll": -0.0007934522582218051,
                        "pitch": -0.2848803400993347,
                        "yaw": -23.544200897216797
                    }
                },
                "velocity": {
                    "x": 4.645071506500244,
                    "y": -2.0257112979888916,
                    "z": -0.02113167755305767
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.50811767578125,
                "transform": {
                    "location": {
                        "x": -1580.128662109375,
                        "y": 5817.71875,
                        "z": 376.1422119140625
                    },
                    "rotation": {
                        "roll": 0.0001861454511526972,
                        "pitch": -0.31481707096099854,
                        "yaw": -23.565044403076172
                    }
                },
                "velocity": {
                    "x": 4.132036209106445,
                    "y": -1.8024849891662598,
                    "z": -0.021200889721512794
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2623978853225708,
        "expert_target_speed": 4.579814102053856,
        "target_point": [
            23.701422938902066,
            0.4172440603486809
        ],
        "target_point_next": [
            24.701349176972606,
            0.4242306994803595
        ]
    },
    "590": {
        "acceleration": [
            -0.10392189025878906,
            0.019037723541259766,
            0.005061700940132141
        ],
        "angular_velocity": [
            0.05863736942410469,
            0.09011399745941162,
            1.0061452388763428
        ],
        "forward_vector": [
            -0.9144988059997559,
            0.4045640230178833,
            0.004463896155357361
        ],
        "right_vector": [
            -0.40456730127334595,
            -0.9145082831382751,
            0.00018215829913970083
        ],
        "location": [
            -1596.4954833984375,
            5822.02587890625,
            376.185302734375
        ],
        "rotation": [
            -0.010437006130814552,
            0.2557632625102997,
            156.1359405517578
        ],
        "velocity": [
            -3.1322178840637207,
            1.3742396831512451,
            0.017532939091324806
        ],
        "speed": 3.420427397270149,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.664664268493652,
                "transform": {
                    "location": {
                        "x": -1582.7550048828125,
                        "y": 5815.6591796875,
                        "z": 376.1129455566406
                    },
                    "rotation": {
                        "roll": 0.016388695687055588,
                        "pitch": -0.09237147122621536,
                        "yaw": 156.5856475830078
                    }
                },
                "velocity": {
                    "x": -6.114633560180664,
                    "y": 2.651029109954834,
                    "z": 0.032416705042123795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.35164737701416,
                "transform": {
                    "location": {
                        "x": -1594.1627197265625,
                        "y": 5823.83984375,
                        "z": 376.1868591308594
                    },
                    "rotation": {
                        "roll": -3.0516179322148673e-05,
                        "pitch": -0.3083761930465698,
                        "yaw": -23.519357681274414
                    }
                },
                "velocity": {
                    "x": 4.904919624328613,
                    "y": -2.1403822898864746,
                    "z": -0.025662679225206375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.385873317718506,
                "transform": {
                    "location": {
                        "x": -1579.066162109375,
                        "y": 5817.25537109375,
                        "z": 376.1363830566406
                    },
                    "rotation": {
                        "roll": -0.00024414921062998474,
                        "pitch": -0.297939658164978,
                        "yaw": -23.566749572753906
                    }
                },
                "velocity": {
                    "x": 4.019465923309326,
                    "y": -1.754802942276001,
                    "z": -0.021128978580236435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26671549677848816,
        "expert_target_speed": 4.570452885695348,
        "target_point": [
            22.847557251419666,
            0.3702679224883223
        ],
        "target_point_next": [
            23.847495020793232,
            0.37534257404989724
        ]
    },
    "595": {
        "acceleration": [
            -0.41519641876220703,
            0.15327692031860352,
            -0.006255730986595154
        ],
        "angular_velocity": [
            0.038254979997873306,
            0.14027689397335052,
            -0.1366879791021347
        ],
        "forward_vector": [
            -0.9151923656463623,
            0.40298596024513245,
            0.005032755900174379
        ],
        "right_vector": [
            -0.4029902219772339,
            -0.9152042865753174,
            0.00017896213103085756
        ],
        "location": [
            -1597.2857666015625,
            5822.37255859375,
            376.1893615722656
        ],
        "rotation": [
            -0.01025390438735485,
            0.2883569002151489,
            156.23471069335938
        ],
        "velocity": [
            -3.201213836669922,
            1.3975536823272705,
            0.017248257994651794
        ],
        "speed": 3.492982439559849,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.632544994354248,
                "transform": {
                    "location": {
                        "x": -1583.7984619140625,
                        "y": 5816.111328125,
                        "z": 376.1223449707031
                    },
                    "rotation": {
                        "roll": 0.006724988576024771,
                        "pitch": -1.186219334602356,
                        "yaw": 156.55812072753906
                    }
                },
                "velocity": {
                    "x": -1.49769127368927,
                    "y": 0.6496801376342773,
                    "z": 0.006304264068603516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.841850280761719,
                "transform": {
                    "location": {
                        "x": -1592.8638916015625,
                        "y": 5823.2734375,
                        "z": 376.1800842285156
                    },
                    "rotation": {
                        "roll": 0.0005663871997967362,
                        "pitch": -0.3126792013645172,
                        "yaw": -23.51682472229004
                    }
                },
                "velocity": {
                    "x": 5.354630470275879,
                    "y": -2.3354432582855225,
                    "z": -0.029176482930779457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.288649082183838,
                "transform": {
                    "location": {
                        "x": -1578.1021728515625,
                        "y": 5816.8349609375,
                        "z": 376.1311950683594
                    },
                    "rotation": {
                        "roll": 0.00016461384075228125,
                        "pitch": -0.30242711305618286,
                        "yaw": -23.570995330810547
                    }
                },
                "velocity": {
                    "x": 3.9302210807800293,
                    "y": -1.7162233591079712,
                    "z": -0.02116210386157036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2566992938518524,
        "expert_target_speed": 4.639988710645105,
        "target_point": [
            21.985182623768843,
            0.3296783449679008
        ],
        "target_point_next": [
            22.985127656656967,
            0.3330288539769537
        ]
    },
    "600": {
        "acceleration": [
            -0.6665325164794922,
            0.26046276092529297,
            0.004455968737602234
        ],
        "angular_velocity": [
            0.10059907287359238,
            0.1031026542186737,
            0.9369853734970093
        ],
        "forward_vector": [
            -0.9159803986549377,
            0.40118327736854553,
            0.005646198987960815
        ],
        "right_vector": [
            -0.40118876099586487,
            -0.9159953594207764,
            0.00017097231466323137
        ],
        "location": [
            -1598.1044921875,
            5822.72900390625,
            376.19354248046875
        ],
        "rotation": [
            -0.009796148166060448,
            0.32350507378578186,
            156.34742736816406
        ],
        "velocity": [
            -3.3506112098693848,
            1.4553394317626953,
            0.01762581802904606
        ],
        "speed": 3.653027284506064,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4100167453289032,
                "transform": {
                    "location": {
                        "x": -1583.8577880859375,
                        "y": 5816.13720703125,
                        "z": 376.1217041015625
                    },
                    "rotation": {
                        "roll": 0.003713849699124694,
                        "pitch": -0.9476272463798523,
                        "yaw": 156.5751953125
                    }
                },
                "velocity": {
                    "x": -0.37647974491119385,
                    "y": 0.16238300502300262,
                    "z": 0.0029154967050999403
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.368373870849609,
                "transform": {
                    "location": {
                        "x": -1591.2635498046875,
                        "y": 5822.57568359375,
                        "z": 376.1722106933594
                    },
                    "rotation": {
                        "roll": 0.0004710543726105243,
                        "pitch": -0.4001193046569824,
                        "yaw": -23.56452178955078
                    }
                },
                "velocity": {
                    "x": 6.753580570220947,
                    "y": -2.9463133811950684,
                    "z": -0.03630839288234711
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.873685121536255,
                "transform": {
                    "location": {
                        "x": -1577.15966796875,
                        "y": 5816.423828125,
                        "z": 376.1263122558594
                    },
                    "rotation": {
                        "roll": -0.0005798282218165696,
                        "pitch": -0.32306110858917236,
                        "yaw": -23.571359634399414
                    }
                },
                "velocity": {
                    "x": 3.550466299057007,
                    "y": -1.5489360094070435,
                    "z": -0.020523961633443832
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25317320227622986,
        "expert_target_speed": 4.793593172195493,
        "target_point": [
            21.092837967964847,
            0.28446145309167914
        ],
        "target_point_next": [
            22.09278765745742,
            0.28584463491457335
        ]
    },
    "605": {
        "acceleration": [
            -0.6456184387207031,
            0.5721282958984375,
            -0.001040436327457428
        ],
        "angular_velocity": [
            0.21414776146411896,
            0.0006095743156038225,
            -1.3193538188934326
        ],
        "forward_vector": [
            -0.9159224629402161,
            0.4013091027736664,
            0.006090483628213406
        ],
        "right_vector": [
            -0.4013185501098633,
            -0.9159384965896606,
            -0.0003610289131756872
        ],
        "location": [
            -1598.9639892578125,
            5823.10546875,
            376.1979064941406
        ],
        "rotation": [
            0.020685816183686256,
            0.3489611744880676,
            156.33949279785156
        ],
        "velocity": [
            -3.515885353088379,
            1.5624192953109741,
            0.017623748630285263
        ],
        "speed": 3.847415219393591,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4293568134307861,
                "transform": {
                    "location": {
                        "x": -1584.0894775390625,
                        "y": 5816.23779296875,
                        "z": 376.1190490722656
                    },
                    "rotation": {
                        "roll": 0.004082601051777601,
                        "pitch": 0.1421908736228943,
                        "yaw": 156.55859375
                    }
                },
                "velocity": {
                    "x": -1.3103901147842407,
                    "y": 0.5708757042884827,
                    "z": 0.006300249136984348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4599504470825195,
                "transform": {
                    "location": {
                        "x": -1589.6676025390625,
                        "y": 5821.87939453125,
                        "z": 376.1623840332031
                    },
                    "rotation": {
                        "roll": -0.00015258982602972537,
                        "pitch": -0.22247974574565887,
                        "yaw": -23.53687286376953
                    }
                },
                "velocity": {
                    "x": 5.9212188720703125,
                    "y": -2.5824568271636963,
                    "z": -0.032278455793857574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.883626937866211,
                "transform": {
                    "location": {
                        "x": -1576.26171875,
                        "y": 5816.03173828125,
                        "z": 376.12115478515625
                    },
                    "rotation": {
                        "roll": -0.00015258741041179746,
                        "pitch": -0.29714736342430115,
                        "yaw": -23.57419776916504
                    }
                },
                "velocity": {
                    "x": 3.5594639778137207,
                    "y": -1.553169846534729,
                    "z": -0.02094227820634842
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2615223526954651,
        "expert_target_speed": 4.9793721050432636,
        "target_point": [
            20.15446947016379,
            0.28727681079294776
        ],
        "target_point_next": [
            21.154418958099956,
            0.28879874523405125
        ]
    },
    "610": {
        "acceleration": [
            -0.7924938201904297,
            0.31484365463256836,
            -0.01723114401102066
        ],
        "angular_velocity": [
            -0.05271084979176521,
            0.05021913722157478,
            0.4006461799144745
        ],
        "forward_vector": [
            -0.9153244495391846,
            0.40266743302345276,
            0.006331639364361763
        ],
        "right_vector": [
            -0.4026753008365631,
            -0.9153429269790649,
            3.568548709154129e-05
        ],
        "location": [
            -1599.8685302734375,
            5823.5048828125,
            376.2025451660156
        ],
        "rotation": [
            -0.0020446686539798975,
            0.3627786338329315,
            156.25445556640625
        ],
        "velocity": [
            -3.7136518955230713,
            1.633007287979126,
            0.01766425184905529
        ],
        "speed": 4.056836600568852,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.259347677230835,
                "transform": {
                    "location": {
                        "x": -1584.5062255859375,
                        "y": 5816.41845703125,
                        "z": 376.1199035644531
                    },
                    "rotation": {
                        "roll": 0.001282203709706664,
                        "pitch": 0.5017456412315369,
                        "yaw": 156.55934143066406
                    }
                },
                "velocity": {
                    "x": -2.072490692138672,
                    "y": 0.8996241688728333,
                    "z": 0.010539045557379723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.80465841293335,
                "transform": {
                    "location": {
                        "x": -1588.24462890625,
                        "y": 5821.2587890625,
                        "z": 376.1546936035156
                    },
                    "rotation": {
                        "roll": 0.00023523640993516892,
                        "pitch": -0.22180354595184326,
                        "yaw": -23.58277702331543
                    }
                },
                "velocity": {
                    "x": 5.321359634399414,
                    "y": -2.31870436668396,
                    "z": -0.02827185019850731
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6479029655456543,
                "transform": {
                    "location": {
                        "x": -1575.4193115234375,
                        "y": 5815.66357421875,
                        "z": 376.11663818359375
                    },
                    "rotation": {
                        "roll": -9.154187137028202e-05,
                        "pitch": -0.3095373213291168,
                        "yaw": -23.576641082763672
                    }
                },
                "velocity": {
                    "x": 3.3433752059936523,
                    "y": -1.4590189456939697,
                    "z": -0.0173869039863348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2677006125450134,
        "expert_target_speed": 5.178284132644179,
        "target_point": [
            19.165221621986298,
            0.3185484900770419
        ],
        "target_point_next": [
            20.16516775054918,
            0.32155426457852165
        ]
    },
    "615": {
        "acceleration": [
            -0.8722543716430664,
            0.3752279281616211,
            0.012842938303947449
        ],
        "angular_velocity": [
            0.0035176104865968227,
            0.050209157168865204,
            -0.13477766513824463
        ],
        "forward_vector": [
            -0.9154537320137024,
            0.4023708403110504,
            0.006493999157100916
        ],
        "right_vector": [
            -0.40237879753112793,
            -0.9154732823371887,
            9.054550901055336e-05
        ],
        "location": [
            -1600.8236083984375,
            5823.92431640625,
            376.2073669433594
        ],
        "rotation": [
            -0.005187985021620989,
            0.37208136916160583,
            156.2729949951172
        ],
        "velocity": [
            -3.9212779998779297,
            1.7211114168167114,
            0.018704814836382866
        ],
        "speed": 4.282364494227866,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4553,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.153369426727295,
                "transform": {
                    "location": {
                        "x": -1571.2529296875,
                        "y": 5810.736328125,
                        "z": 376.39990234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.28906041383743286,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": -2.7516469955444336,
                    "y": 1.200514316558838,
                    "z": -0.9648538827896118
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.594473123550415,
                "transform": {
                    "location": {
                        "x": -1585.17626953125,
                        "y": 5816.7099609375,
                        "z": 376.12261962890625
                    },
                    "rotation": {
                        "roll": 0.003456591395661235,
                        "pitch": 0.7410072088241577,
                        "yaw": 156.5353546142578
                    }
                },
                "velocity": {
                    "x": -3.2960689067840576,
                    "y": 1.433835744857788,
                    "z": 0.01679471880197525
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.104864597320557,
                "transform": {
                    "location": {
                        "x": -1587.039306640625,
                        "y": 5820.73291015625,
                        "z": 376.148193359375
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": -0.21255546808242798,
                        "yaw": -23.53635597229004
                    }
                },
                "velocity": {
                    "x": 4.679067134857178,
                    "y": -2.04091739654541,
                    "z": -0.02506619319319725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.402634382247925,
                "transform": {
                    "location": {
                        "x": -1574.59619140625,
                        "y": 5815.3046875,
                        "z": 376.1121826171875
                    },
                    "rotation": {
                        "roll": 0.00048219578457064927,
                        "pitch": -0.3124333322048187,
                        "yaw": -23.572856903076172
                    }
                },
                "velocity": {
                    "x": 3.118671178817749,
                    "y": -1.360697865486145,
                    "z": -0.01766638644039631
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2738294005393982,
        "expert_target_speed": 5.391040401551674,
        "target_point": [
            18.12220392914725,
            0.3120288065981418
        ],
        "target_point_next": [
            19.12215097720656,
            0.31471130277130754
        ]
    },
    "620": {
        "acceleration": [
            -0.9887409210205078,
            0.4257059097290039,
            0.0024579837918281555
        ],
        "angular_velocity": [
            0.02963099256157875,
            0.04201985523104668,
            0.18901324272155762
        ],
        "forward_vector": [
            -0.9156208038330078,
            0.4019874930381775,
            0.006688186898827553
        ],
        "right_vector": [
            -0.4019958972930908,
            -0.9156414866447449,
            9.107810183195397e-05
        ],
        "location": [
            -1601.833740234375,
            5824.3681640625,
            376.21246337890625
        ],
        "rotation": [
            -0.005218507722020149,
            0.3832077383995056,
            156.2969512939453
        ],
        "velocity": [
            -4.15639591217041,
            1.8223588466644287,
            0.021916111931204796
        ],
        "speed": 4.538349782103953,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4553,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9728634357452393,
                "transform": {
                    "location": {
                        "x": -1571.93359375,
                        "y": 5811.03173828125,
                        "z": 376.0186767578125
                    },
                    "rotation": {
                        "roll": -0.009979245252907276,
                        "pitch": 0.27600109577178955,
                        "yaw": 156.50770568847656
                    }
                },
                "velocity": {
                    "x": -2.710066556930542,
                    "y": 1.1581450700759888,
                    "z": -0.39007139205932617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.921901702880859,
                "transform": {
                    "location": {
                        "x": -1586.162109375,
                        "y": 5817.138671875,
                        "z": 376.12750244140625
                    },
                    "rotation": {
                        "roll": 0.002535533858463168,
                        "pitch": 0.8514103293418884,
                        "yaw": 156.50990295410156
                    }
                },
                "velocity": {
                    "x": -4.512984752655029,
                    "y": 1.964056372642517,
                    "z": 0.023862551897764206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.577188014984131,
                "transform": {
                    "location": {
                        "x": -1585.8314208984375,
                        "y": 5820.20654296875,
                        "z": 376.1424560546875
                    },
                    "rotation": {
                        "roll": -0.0006103503401391208,
                        "pitch": -0.3106028437614441,
                        "yaw": -23.563243865966797
                    }
                },
                "velocity": {
                    "x": 5.111911296844482,
                    "y": -2.2299559116363525,
                    "z": -0.026147941127419472
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.577876567840576,
                "transform": {
                    "location": {
                        "x": -1573.8148193359375,
                        "y": 5814.96337890625,
                        "z": 376.10760498046875
                    },
                    "rotation": {
                        "roll": -0.0014038077788427472,
                        "pitch": -0.2842383086681366,
                        "yaw": -23.573131561279297
                    }
                },
                "velocity": {
                    "x": 3.279223918914795,
                    "y": -1.4309370517730713,
                    "z": -0.01759239099919796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9466552734375,
                        "y": 5691.8916015625,
                        "z": 376.71002197265625
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2619369924068451,
        "expert_target_speed": 5.630404352112345,
        "target_point": [
            17.01898929612655,
            0.3047860276652088
        ],
        "target_point_next": [
            18.018937378533465,
            0.3070503595720311
        ]
    },
    "625": {
        "acceleration": [
            -0.9845638275146484,
            0.42232513427734375,
            -0.007530227303504944
        ],
        "angular_velocity": [
            0.049673907458782196,
            -0.0015201246133074164,
            0.09484093636274338
        ],
        "forward_vector": [
            -0.9157820343971252,
            0.4016166925430298,
            0.00686711585149169
        ],
        "right_vector": [
            -0.4016256034374237,
            -0.9158039093017578,
            9.107787627726793e-05
        ],
        "location": [
            -1602.9053955078125,
            5824.83740234375,
            376.2180480957031
        ],
        "rotation": [
            -0.00521850073710084,
            0.39345985651016235,
            156.32012939453125
        ],
        "velocity": [
            -4.406001091003418,
            1.9296516180038452,
            0.021610602736473083
        ],
        "speed": 4.810031286882463,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4553,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.875880479812622,
                "transform": {
                    "location": {
                        "x": -1572.6009521484375,
                        "y": 5811.31591796875,
                        "z": 376.0389709472656
                    },
                    "rotation": {
                        "roll": -0.0031738318502902985,
                        "pitch": 0.2824351489543915,
                        "yaw": 156.694580078125
                    }
                },
                "velocity": {
                    "x": -2.642963171005249,
                    "y": 1.1249605417251587,
                    "z": 0.14105872809886932
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.340106964111328,
                "transform": {
                    "location": {
                        "x": -1587.373046875,
                        "y": 5817.66552734375,
                        "z": 376.1350402832031
                    },
                    "rotation": {
                        "roll": 0.0011060015531256795,
                        "pitch": 0.650691568851471,
                        "yaw": 156.49093627929688
                    }
                },
                "velocity": {
                    "x": -4.896846294403076,
                    "y": 2.13000750541687,
                    "z": 0.026597823947668076
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.452609539031982,
                "transform": {
                    "location": {
                        "x": -1584.532470703125,
                        "y": 5819.6396484375,
                        "z": 376.1353454589844
                    },
                    "rotation": {
                        "roll": -0.0017395043978467584,
                        "pitch": -0.28005141019821167,
                        "yaw": -23.546762466430664
                    }
                },
                "velocity": {
                    "x": 4.99799108505249,
                    "y": -2.1795074939727783,
                    "z": -0.027990149334073067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.33933162689209,
                "transform": {
                    "location": {
                        "x": -1572.995849609375,
                        "y": 5814.60595703125,
                        "z": 376.1033935546875
                    },
                    "rotation": {
                        "roll": -0.00033569117658771574,
                        "pitch": -0.3042576014995575,
                        "yaw": -23.57069206237793
                    }
                },
                "velocity": {
                    "x": 3.060171127319336,
                    "y": -1.33648681640625,
                    "z": -0.017116937786340714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9571533203125,
                        "y": 5689.390625,
                        "z": 376.7161560058594
                    },
                    "rotation": {
                        "roll": 6.670127117303082e-09,
                        "pitch": 0.14098875224590302,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2748427391052246,
        "expert_target_speed": 5.881979825701158,
        "target_point": [
            15.849226907678453,
            0.2972294890890099
        ],
        "target_point_next": [
            16.849175823937443,
            0.29908948390486945
        ]
    },
    "630": {
        "acceleration": [
            -0.92437744140625,
            0.3988456726074219,
            -0.04140987992286682
        ],
        "angular_velocity": [
            0.0071506742388010025,
            -0.010864924639463425,
            0.15231595933437347
        ],
        "forward_vector": [
            -0.9159587621688843,
            0.4012130796909332,
            0.006903831381350756
        ],
        "right_vector": [
            -0.4012221693992615,
            -0.9159807562828064,
            7.403420022455975e-05
        ],
        "location": [
            -1604.038818359375,
            5825.33349609375,
            376.22406005859375
        ],
        "rotation": [
            -0.00424194848164916,
            0.395563542842865,
            156.34536743164062
        ],
        "velocity": [
            -4.648932933807373,
            2.0337815284729004,
            0.025293054059147835
        ],
        "speed": 5.074331948995493,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4553,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7114617824554443,
                "transform": {
                    "location": {
                        "x": -1573.334228515625,
                        "y": 5811.6279296875,
                        "z": 376.0601501464844
                    },
                    "rotation": {
                        "roll": -0.0013732921797782183,
                        "pitch": 0.3830164968967438,
                        "yaw": 156.8380889892578
                    }
                },
                "velocity": {
                    "x": -3.4161455631256104,
                    "y": 1.4500732421875,
                    "z": 0.04674040526151657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.763397216796875,
                "transform": {
                    "location": {
                        "x": -1588.739990234375,
                        "y": 5818.26025390625,
                        "z": 376.14178466796875
                    },
                    "rotation": {
                        "roll": 0.0023944310378283262,
                        "pitch": 0.7820224761962891,
                        "yaw": 156.4816131591797
                    }
                },
                "velocity": {
                    "x": -6.201010227203369,
                    "y": 2.699998617172241,
                    "z": 0.031991127878427505
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2840900421142578,
                "transform": {
                    "location": {
                        "x": -1583.71875,
                        "y": 5819.2841796875,
                        "z": 376.1278381347656
                    },
                    "rotation": {
                        "roll": -0.0022888185922056437,
                        "pitch": 0.06841117143630981,
                        "yaw": -23.69687843322754
                    }
                },
                "velocity": {
                    "x": 1.1757136583328247,
                    "y": -0.5162869095802307,
                    "z": -0.005682401359081268
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.349309206008911,
                "transform": {
                    "location": {
                        "x": -1572.246337890625,
                        "y": 5814.279296875,
                        "z": 376.0992126464844
                    },
                    "rotation": {
                        "roll": 0.00047579160309396684,
                        "pitch": -0.293855220079422,
                        "yaw": -23.568885803222656
                    }
                },
                "velocity": {
                    "x": 3.0694611072540283,
                    "y": -1.3401458263397217,
                    "z": -0.017019253224134445
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9744873046875,
                        "y": 5685.2216796875,
                        "z": 376.7264709472656
                    },
                    "rotation": {
                        "roll": -6.670127561392292e-09,
                        "pitch": 0.144198939204216,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2627085745334625,
        "expert_target_speed": 6.123673536612901,
        "target_point": [
            14.61211898131189,
            0.2899035588821697
        ],
        "target_point_next": [
            15.612068620021853,
            0.2913229785049376
        ]
    },
    "635": {
        "acceleration": [
            -1.284494400024414,
            0.5643415451049805,
            -0.0025005266070365906
        ],
        "angular_velocity": [
            0.11392009258270264,
            0.14199328422546387,
            0.13475945591926575
        ],
        "forward_vector": [
            -0.9159724712371826,
            0.40120166540145874,
            0.005615800619125366
        ],
        "right_vector": [
            -0.4012078046798706,
            -0.9159870743751526,
            4.154466660111211e-05
        ],
        "location": [
            -1605.1915283203125,
            5825.837890625,
            376.2301025390625
        ],
        "rotation": [
            -0.0023803715594112873,
            0.32176336646080017,
            156.34628295898438
        ],
        "velocity": [
            -4.671444416046143,
            2.043422222137451,
            0.023704251274466515
        ],
        "speed": 5.09882018805663,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4553,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.092458248138428,
                "transform": {
                    "location": {
                        "x": -1574.356201171875,
                        "y": 5812.06103515625,
                        "z": 376.0690002441406
                    },
                    "rotation": {
                        "roll": -0.0007019133190624416,
                        "pitch": 0.4809887111186981,
                        "yaw": 156.96533203125
                    }
                },
                "velocity": {
                    "x": -4.689363479614258,
                    "y": 1.985357642173767,
                    "z": 0.036839570850133896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.969996929168701,
                "transform": {
                    "location": {
                        "x": -1590.4583740234375,
                        "y": 5819.00927734375,
                        "z": 376.15057373046875
                    },
                    "rotation": {
                        "roll": 0.0029296395368874073,
                        "pitch": 0.8586981892585754,
                        "yaw": 156.4685821533203
                    }
                },
                "velocity": {
                    "x": -7.306488037109375,
                    "y": 3.18349552154541,
                    "z": 0.037899188697338104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8769485354423523,
                "transform": {
                    "location": {
                        "x": -1583.61669921875,
                        "y": 5819.23974609375,
                        "z": 376.1293029785156
                    },
                    "rotation": {
                        "roll": 0.0003436220868024975,
                        "pitch": -0.17217539250850677,
                        "yaw": -23.709117889404297
                    }
                },
                "velocity": {
                    "x": 0.8035743236541748,
                    "y": -0.35112738609313965,
                    "z": -0.004079418256878853
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.99338698387146,
                "transform": {
                    "location": {
                        "x": -1571.520751953125,
                        "y": 5813.96240234375,
                        "z": 376.0953674316406
                    },
                    "rotation": {
                        "roll": -0.0002441429242026061,
                        "pitch": -0.31512442231178284,
                        "yaw": -23.567453384399414
                    }
                },
                "velocity": {
                    "x": 2.7442338466644287,
                    "y": -1.1955441236495972,
                    "z": -0.014850997366011143
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9915771484375,
                        "y": 5681.0537109375,
                        "z": 376.7369384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1473681479692459,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27509960532188416,
        "expert_target_speed": 6.1445718110720025,
        "target_point": [
            13.353889246618344,
            0.28920921592064897
        ],
        "target_point_next": [
            14.353838908209182,
            0.2906124238963317
        ]
    },
    "640": {
        "acceleration": [
            1.6299819946289062,
            -0.7177734375,
            -0.030449479818344116
        ],
        "angular_velocity": [
            -0.2148314267396927,
            -0.5851294994354248,
            0.08706524223089218
        ],
        "forward_vector": [
            -0.9160992503166199,
            0.4009237587451935,
            0.0047190007753670216
        ],
        "right_vector": [
            -0.4009280800819397,
            -0.9161095023155212,
            3.781640771194361e-05
        ],
        "location": [
            -1606.3526611328125,
            5826.345703125,
            376.2360534667969
        ],
        "rotation": [
            -0.002166744787245989,
            0.27037984132766724,
            156.36378479003906
        ],
        "velocity": [
            -4.563683032989502,
            1.9949722290039062,
            0.021231727674603462
        ],
        "speed": 4.980674353949782,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4553,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.6149420738220215,
                "transform": {
                    "location": {
                        "x": -1575.598388671875,
                        "y": 5812.5859375,
                        "z": 376.07623291015625
                    },
                    "rotation": {
                        "roll": 0.001145230489782989,
                        "pitch": 0.39032480120658875,
                        "yaw": 157.0240936279297
                    }
                },
                "velocity": {
                    "x": -5.172031879425049,
                    "y": 2.1855921745300293,
                    "z": 0.02909303642809391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.19965934753418,
                "transform": {
                    "location": {
                        "x": -1592.2078857421875,
                        "y": 5819.77099609375,
                        "z": 376.1617431640625
                    },
                    "rotation": {
                        "roll": 0.0013476097956299782,
                        "pitch": 0.32360750436782837,
                        "yaw": 156.4529571533203
                    }
                },
                "velocity": {
                    "x": -6.60009765625,
                    "y": 2.876204490661621,
                    "z": 0.035381972789764404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7930749654769897,
                "transform": {
                    "location": {
                        "x": -1583.2999267578125,
                        "y": 5819.1015625,
                        "z": 376.12908935546875
                    },
                    "rotation": {
                        "roll": 0.0011583929881453514,
                        "pitch": -0.35540205240249634,
                        "yaw": -23.673900604248047
                    }
                },
                "velocity": {
                    "x": 1.6434593200683594,
                    "y": -0.7170040011405945,
                    "z": -0.008034448139369488
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0035879611968994,
                "transform": {
                    "location": {
                        "x": -1570.82373046875,
                        "y": 5813.65869140625,
                        "z": 376.0914001464844
                    },
                    "rotation": {
                        "roll": -0.0005187943461351097,
                        "pitch": -0.29312437772750854,
                        "yaw": -23.566692352294922
                    }
                },
                "velocity": {
                    "x": 2.753044366836548,
                    "y": -1.2008793354034424,
                    "z": -0.013287324458360672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1659.0091552734375,
                        "y": 5676.884765625,
                        "z": 376.74755859375
                    },
                    "rotation": {
                        "roll": -6.670127117303082e-09,
                        "pitch": 0.14084532856941223,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27125540375709534,
        "expert_target_speed": 6.034637967737718,
        "target_point": [
            12.086655756401116,
            0.2848147309650768
        ],
        "target_point_next": [
            13.086605799653253,
            0.2859127784609683
        ]
    },
    "645": {
        "acceleration": [
            -3.4754085540771484,
            1.5032243728637695,
            0.019275285303592682
        ],
        "angular_velocity": [
            0.36708134412765503,
            0.8452508449554443,
            0.10638867318630219
        ],
        "forward_vector": [
            -0.9162845015525818,
            0.4005012512207031,
            0.0046356744132936
        ],
        "right_vector": [
            -0.4005053639411926,
            -0.9162943959236145,
            4.154478301643394e-05
        ],
        "location": [
            -1607.521484375,
            5826.85595703125,
            376.24169921875
        ],
        "rotation": [
            -0.002380366437137127,
            0.26560553908348083,
            156.3902130126953
        ],
        "velocity": [
            -4.767879009246826,
            2.08141827583313,
            0.022791489958763123
        ],
        "speed": 5.202400627190168,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4553,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.258773326873779,
                "transform": {
                    "location": {
                        "x": -1577.0145263671875,
                        "y": 5813.19091796875,
                        "z": 376.0841979980469
                    },
                    "rotation": {
                        "roll": 0.009717682376503944,
                        "pitch": 0.5403771996498108,
                        "yaw": 156.87466430664062
                    }
                },
                "velocity": {
                    "x": -6.672542572021484,
                    "y": 2.85756254196167,
                    "z": 0.03612016513943672
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.982550621032715,
                "transform": {
                    "location": {
                        "x": -1593.6695556640625,
                        "y": 5820.40869140625,
                        "z": 376.1716613769531
                    },
                    "rotation": {
                        "roll": 0.004747794475406408,
                        "pitch": -0.24288834631443024,
                        "yaw": 156.53639221191406
                    }
                },
                "velocity": {
                    "x": -4.5658369064331055,
                    "y": 1.9945789575576782,
                    "z": 0.024448394775390625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9361313581466675,
                "transform": {
                    "location": {
                        "x": -1582.83203125,
                        "y": 5818.8974609375,
                        "z": 376.12628173828125
                    },
                    "rotation": {
                        "roll": -0.00033569132210686803,
                        "pitch": -0.3091070353984833,
                        "yaw": -23.652904510498047
                    }
                },
                "velocity": {
                    "x": 1.7746819257736206,
                    "y": -0.7739632725715637,
                    "z": -0.009461049921810627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.8004300594329834,
                "transform": {
                    "location": {
                        "x": -1570.1746826171875,
                        "y": 5813.37548828125,
                        "z": 376.0880126953125
                    },
                    "rotation": {
                        "roll": -0.0009155320003628731,
                        "pitch": -0.30843767523765564,
                        "yaw": -23.56806182861328
                    }
                },
                "velocity": {
                    "x": 2.566819667816162,
                    "y": -1.1196675300598145,
                    "z": -0.013771743513643742
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1659.0263671875,
                        "y": 5672.71630859375,
                        "z": 376.75799560546875
                    },
                    "rotation": {
                        "roll": -6.670127117303082e-09,
                        "pitch": 0.14084532856941223,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2657180726528168,
        "expert_target_speed": 6.235300877297397,
        "target_point": [
            10.811440298779694,
            0.2786585302398019
        ],
        "target_point_next": [
            11.811390742344813,
            0.2792950223249244
        ]
    },
    "650": {
        "acceleration": [
            1.0049152374267578,
            -0.4439973831176758,
            -0.0031343474984169006
        ],
        "angular_velocity": [
            -0.18827100098133087,
            -0.36884140968322754,
            0.1043248102068901
        ],
        "forward_vector": [
            -0.9164693355560303,
            0.4000801146030426,
            0.004467591177672148
        ],
        "right_vector": [
            -0.40008383989334106,
            -0.9164785742759705,
            6.285000563366339e-05
        ],
        "location": [
            -1608.7132568359375,
            5827.3759765625,
            376.24749755859375
        ],
        "rotation": [
            -0.0036010760813951492,
            0.25597497820854187,
            156.41656494140625
        ],
        "velocity": [
            -4.670661926269531,
            2.0367021560668945,
            0.02204786241054535
        ],
        "speed": 5.0954134770429915,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4553,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.35338020324707,
                "transform": {
                    "location": {
                        "x": -1578.8294677734375,
                        "y": 5813.96923828125,
                        "z": 376.0940246582031
                    },
                    "rotation": {
                        "roll": 0.006941285915672779,
                        "pitch": 0.4896903932094574,
                        "yaw": 156.78848266601562
                    }
                },
                "velocity": {
                    "x": -7.676234722137451,
                    "y": 3.294334888458252,
                    "z": 0.04166154935956001
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4552,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.73825740814209,
                "transform": {
                    "location": {
                        "x": -1594.4927978515625,
                        "y": 5820.76904296875,
                        "z": 376.1763610839844
                    },
                    "rotation": {
                        "roll": -0.0028381359297782183,
                        "pitch": -0.40979084372520447,
                        "yaw": 156.64378356933594
                    }
                },
                "velocity": {
                    "x": -3.427476644515991,
                    "y": 1.4921894073486328,
                    "z": 0.018541058525443077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4551,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8783259391784668,
                "transform": {
                    "location": {
                        "x": -1582.4246826171875,
                        "y": 5818.71923828125,
                        "z": 376.123779296875
                    },
                    "rotation": {
                        "roll": 7.011363049969077e-05,
                        "pitch": -0.27514731884002686,
                        "yaw": -23.634563446044922
                    }
                },
                "velocity": {
                    "x": 1.7215957641601562,
                    "y": -0.7510824203491211,
                    "z": -0.009552735835313797
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4547,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6507058143615723,
                "transform": {
                    "location": {
                        "x": -1569.532958984375,
                        "y": 5813.095703125,
                        "z": 376.0844421386719
                    },
                    "rotation": {
                        "roll": 0.0008625570335425436,
                        "pitch": -0.30526164174079895,
                        "yaw": -23.568981170654297
                    }
                },
                "velocity": {
                    "x": 2.429121971130371,
                    "y": -1.0608576536178589,
                    "z": -0.01373088825494051
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.863525390625,
                        "y": 5711.87939453125,
                        "z": 376.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1659.043701171875,
                        "y": 5668.5478515625,
                        "z": 376.7680358886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1317133605480194,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2657603621482849,
        "expert_target_speed": 6.135763410398929,
        "target_point": [
            9.511281947591497,
            0.273466168175172
        ],
        "target_point_next": [
            10.511232578090086,
            0.2736430119683857
        ]
    }
}