{
    "0": {
        "acceleration": [
            -0.0009745359420776367,
            -0.0058940378949046135,
            -0.5775332450866699
        ],
        "angular_velocity": [
            0.010610737837851048,
            0.0452793724834919,
            -0.0001797577424440533
        ],
        "forward_vector": [
            0.3019205629825592,
            -0.9532955288887024,
            0.008462089113891125
        ],
        "right_vector": [
            0.9533293843269348,
            0.3019323945045471,
            0.00012463096936699003
        ],
        "location": [
            207.10874938964844,
            5664.78125,
            364.736083984375
        ],
        "rotation": [
            -0.007141084875911474,
            0.4848477840423584,
            -72.42635345458984
        ],
        "velocity": [
            -0.00034330226480960846,
            0.001571396947838366,
            0.20537212491035461
        ],
        "speed": 0.0016084603858034984,
        "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": -0.03553815186023712,
        "expert_target_speed": 1.3953875935526754,
        "target_point": [
            50.8972663457528,
            -5.5181875515716445
        ],
        "target_point_next": [
            70.96465110727813,
            -10.850158974784613
        ]
    },
    "5": {
        "acceleration": [
            -0.0031204414553940296,
            -0.004016902297735214,
            -0.38674116134643555
        ],
        "angular_velocity": [
            0.010245513170957565,
            0.013133784756064415,
            2.7756097551900893e-05
        ],
        "forward_vector": [
            0.3019215762615204,
            -0.953295886516571,
            0.008381268940865993
        ],
        "right_vector": [
            0.9533292651176453,
            0.3019324839115143,
            3.888085120706819e-05
        ],
        "location": [
            207.10867309570312,
            5664.78125,
            364.7684020996094
        ],
        "rotation": [
            -0.0022277869284152985,
            0.480216920375824,
            -72.42630767822266
        ],
        "velocity": [
            -0.0001533105969429016,
            0.0005309344851411879,
            0.0717599168419838
        ],
        "speed": 0.0005526260640316624,
        "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": 15.107830047607422,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                211.20936584472656,
                5650.2412109375,
                364.9029846191406
            ],
            "velocity": [
                0.0007026544190011919,
                -0.002703627571463585,
                -0.3634899854660034
            ],
            "speed_kmh": 1.3086025891221582,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.361445665359497,
                "transform": {
                    "location": {
                        "x": 215.4304656982422,
                        "y": 5595.4716796875,
                        "z": 365.39178466796875
                    },
                    "rotation": {
                        "roll": -0.0002746684767771512,
                        "pitch": -0.40499603748321533,
                        "yaw": 90.58602142333984
                    }
                },
                "velocity": {
                    "x": -0.00027329023578204215,
                    "y": 0.0006126564112491906,
                    "z": -2.361445665359497
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3642001152038574,
                "transform": {
                    "location": {
                        "x": 196.20726013183594,
                        "y": 5692.87158203125,
                        "z": 364.51507568359375
                    },
                    "rotation": {
                        "roll": 0.0007577065262012184,
                        "pitch": 0.5570633411407471,
                        "yaw": -65.1528091430664
                    }
                },
                "velocity": {
                    "x": 0.001509096473455429,
                    "y": -0.0031610336154699326,
                    "z": -0.3641832768917084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4344567060470581,
                "transform": {
                    "location": {
                        "x": 202.10772705078125,
                        "y": 5678.9892578125,
                        "z": 364.6641845703125
                    },
                    "rotation": {
                        "roll": 0.0008837984642013907,
                        "pitch": 0.5177556276321411,
                        "yaw": -68.79229736328125
                    }
                },
                "velocity": {
                    "x": 0.0015519076259806752,
                    "y": -0.003423918504267931,
                    "z": -0.4344404637813568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3635007441043854,
                "transform": {
                    "location": {
                        "x": 211.20936584472656,
                        "y": 5650.2412109375,
                        "z": 364.9029846191406
                    },
                    "rotation": {
                        "roll": -0.0008240099414251745,
                        "pitch": 0.44629818201065063,
                        "yaw": -76.07148742675781
                    }
                },
                "velocity": {
                    "x": 0.0007026544190011919,
                    "y": -0.002703627571463585,
                    "z": -0.3634899854660034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35636699199676514,
                "transform": {
                    "location": {
                        "x": 214.37367248535156,
                        "y": 5635.49169921875,
                        "z": 365.0206298828125
                    },
                    "rotation": {
                        "roll": -0.0010071085998788476,
                        "pitch": 0.43719354271888733,
                        "yaw": -79.71119689941406
                    }
                },
                "velocity": {
                    "x": 0.0003346976882312447,
                    "y": -0.0026157947722822428,
                    "z": -0.356357216835022
                },
                "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": -0.03738752380013466,
        "expert_target_speed": 1.0815987527236584,
        "target_point": [
            50.89728609222254,
            -5.518145155436734
        ],
        "target_point_next": [
            70.96466767564169,
            -10.850128539742155
        ]
    },
    "10": {
        "acceleration": [
            0.0006850567297078669,
            -0.0010585784912109375,
            -0.12441426515579224
        ],
        "angular_velocity": [
            0.00272033317014575,
            0.0026897876523435116,
            7.91237034718506e-05
        ],
        "forward_vector": [
            0.30192190408706665,
            -0.9532960653305054,
            0.008348247967660427
        ],
        "right_vector": [
            0.95332932472229,
            0.3019323945045471,
            -1.9278377294540405e-06
        ],
        "location": [
            207.10858154296875,
            5664.78125,
            364.7781982421875
        ],
        "rotation": [
            0.00011046081635868177,
            0.4783249497413635,
            -72.4262924194336
        ],
        "velocity": [
            -3.9338076021522284e-05,
            0.0001543025573482737,
            0.019015753641724586
        ],
        "speed": 0.00015923807154475452,
        "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": 15.107709884643555,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                211.20936584472656,
                5650.2412109375,
                364.8952941894531
            ],
            "velocity": [
                -0.00010629840107867494,
                0.00035921394010074437,
                0.04451223835349083
            ],
            "speed_kmh": 0.1602497328430437,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09467831254005432,
                "transform": {
                    "location": {
                        "x": 215.4304656982422,
                        "y": 5595.470703125,
                        "z": 365.24835205078125
                    },
                    "rotation": {
                        "roll": -0.001495343865826726,
                        "pitch": -0.4164707660675049,
                        "yaw": 90.58607482910156
                    }
                },
                "velocity": {
                    "x": 9.066856000572443e-05,
                    "y": 0.0007128638098947704,
                    "z": 0.09467559307813644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044709399342536926,
                "transform": {
                    "location": {
                        "x": 196.20726013183594,
                        "y": 5692.87158203125,
                        "z": 364.50738525390625
                    },
                    "rotation": {
                        "roll": 0.00031745873275212944,
                        "pitch": 0.5578283667564392,
                        "yaw": -65.15278625488281
                    }
                },
                "velocity": {
                    "x": -0.00017548508185427636,
                    "y": 0.00040516091394238174,
                    "z": 0.044707220047712326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02738472819328308,
                "transform": {
                    "location": {
                        "x": 202.10772705078125,
                        "y": 5678.9892578125,
                        "z": 364.6400451660156
                    },
                    "rotation": {
                        "roll": 0.0020633626263588667,
                        "pitch": 0.5209658145904541,
                        "yaw": -68.79224395751953
                    }
                },
                "velocity": {
                    "x": 6.209543062141165e-05,
                    "y": 0.00035724302870221436,
                    "z": 0.027382327243685722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04451381415128708,
                "transform": {
                    "location": {
                        "x": 211.20936584472656,
                        "y": 5650.2412109375,
                        "z": 364.8952941894531
                    },
                    "rotation": {
                        "roll": -0.0008239966118708253,
                        "pitch": 0.4466806948184967,
                        "yaw": -76.07145690917969
                    }
                },
                "velocity": {
                    "x": -0.00010629840107867494,
                    "y": 0.00035921394010074437,
                    "z": 0.04451223835349083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04457535594701767,
                "transform": {
                    "location": {
                        "x": 214.37367248535156,
                        "y": 5635.49169921875,
                        "z": 365.01312255859375
                    },
                    "rotation": {
                        "roll": -0.0014953480567783117,
                        "pitch": 0.438060998916626,
                        "yaw": -79.7111587524414
                    }
                },
                "velocity": {
                    "x": -0.00013825789210386574,
                    "y": 0.00034759871778078377,
                    "z": 0.04457378759980202
                },
                "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": -0.03472374752163887,
        "expert_target_speed": 1.0293933526974821,
        "target_point": [
            50.89731159704637,
            -5.518077594669817
        ],
        "target_point_next": [
            70.96469111469267,
            -10.85006875368432
        ]
    },
    "15": {
        "acceleration": [
            0.0003044508339371532,
            -0.00022602231183554977,
            -0.03016974776983261
        ],
        "angular_velocity": [
            0.0015700884396210313,
            0.007098401430994272,
            7.085411198204383e-05
        ],
        "forward_vector": [
            0.30192211270332336,
            -0.9532960653305054,
            0.00834264513105154
        ],
        "right_vector": [
            0.9533292651176453,
            0.30193254351615906,
            -1.0860618203878403e-05
        ],
        "location": [
            207.10858154296875,
            5664.78125,
            364.7806701660156
        ],
        "rotation": [
            0.0006222892552614212,
            0.47800391912460327,
            -72.42628479003906
        ],
        "velocity": [
            -2.9951520446047653e-06,
            4.335410631028935e-05,
            0.004710052162408829
        ],
        "speed": 4.345744435346113e-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": 15.192277908325195,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                211.22991943359375,
                5650.1591796875,
                364.90283203125
            ],
            "velocity": [
                0.2651293873786926,
                -1.0641695261001587,
                0.021491270512342453
            ],
            "speed_kmh": 3.9488771469421438,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9465193748474121,
                "transform": {
                    "location": {
                        "x": 215.42788696289062,
                        "y": 5595.5419921875,
                        "z": 365.2805480957031
                    },
                    "rotation": {
                        "roll": -0.0205688439309597,
                        "pitch": -0.19335581362247467,
                        "yaw": 90.56746673583984
                    }
                },
                "velocity": {
                    "x": -0.03235742822289467,
                    "y": 0.9404408931732178,
                    "z": 0.10209192335605621
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1080315113067627,
                "transform": {
                    "location": {
                        "x": 196.243896484375,
                        "y": 5692.79296875,
                        "z": 364.5150451660156
                    },
                    "rotation": {
                        "roll": -0.00024411737103946507,
                        "pitch": 0.6988649368286133,
                        "yaw": -65.14910125732422
                    }
                },
                "velocity": {
                    "x": 0.46650299429893494,
                    "y": -1.004746913909912,
                    "z": 0.02433992363512516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9262571334838867,
                "transform": {
                    "location": {
                        "x": 202.13241577148438,
                        "y": 5678.92529296875,
                        "z": 364.6459045410156
                    },
                    "rotation": {
                        "roll": 0.0017927803564816713,
                        "pitch": 0.739497721195221,
                        "yaw": -68.79862213134766
                    }
                },
                "velocity": {
                    "x": 0.33435478806495667,
                    "y": -0.8631483316421509,
                    "z": 0.0336771085858345
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0969102382659912,
                "transform": {
                    "location": {
                        "x": 211.22991943359375,
                        "y": 5650.1591796875,
                        "z": 364.90283203125
                    },
                    "rotation": {
                        "roll": -0.0009155065636150539,
                        "pitch": 0.585517942905426,
                        "yaw": -76.08840942382812
                    }
                },
                "velocity": {
                    "x": 0.2651293873786926,
                    "y": -1.0641695261001587,
                    "z": 0.021491270512342453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.22714364528656,
                "transform": {
                    "location": {
                        "x": 214.39413452148438,
                        "y": 5635.37939453125,
                        "z": 365.0206604003906
                    },
                    "rotation": {
                        "roll": -0.0010986081324517727,
                        "pitch": 0.6384245753288269,
                        "yaw": -79.72280883789062
                    }
                },
                "velocity": {
                    "x": 0.22106331586837769,
                    "y": -1.2068819999694824,
                    "z": 0.021177692338824272
                },
                "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": -0.03452301397919655,
        "expert_target_speed": 1.0210771979981168,
        "target_point": [
            50.89731159704637,
            -5.518077594669817
        ],
        "target_point_next": [
            70.96469111469267,
            -10.85006875368432
        ]
    },
    "20": {
        "acceleration": [
            0.7612413167953491,
            -2.455456256866455,
            0.04349306970834732
        ],
        "angular_velocity": [
            -0.4727289378643036,
            -0.16301342844963074,
            0.8597476482391357
        ],
        "forward_vector": [
            0.3014589846134186,
            -0.9533930420875549,
            0.012813812121748924
        ],
        "right_vector": [
            0.953471302986145,
            0.3014836609363556,
            -3.822147846221924e-06
        ],
        "location": [
            207.1484375,
            5664.65478515625,
            364.7811584472656
        ],
        "rotation": [
            0.00021901090804021806,
            0.7341974973678589,
            -72.45326232910156
        ],
        "velocity": [
            0.29420703649520874,
            -0.93523770570755,
            0.009965123608708382
        ],
        "speed": 0.9804220246916198,
        "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": 15.476805686950684,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                211.3310089111328,
                5649.75439453125,
                364.90753173828125
            ],
            "velocity": [
                0.5353463888168335,
                -2.1465470790863037,
                0.018193330615758896
            ],
            "speed_kmh": 7.964540216721585,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9212627410888672,
                "transform": {
                    "location": {
                        "x": 215.415771484375,
                        "y": 5595.916015625,
                        "z": 365.2937927246094
                    },
                    "rotation": {
                        "roll": -0.0339050255715847,
                        "pitch": -0.012055283412337303,
                        "yaw": 90.87361145019531
                    }
                },
                "velocity": {
                    "x": -0.06992495059967041,
                    "y": 1.9198678731918335,
                    "z": 0.021646708250045776
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.233403444290161,
                "transform": {
                    "location": {
                        "x": 196.4266357421875,
                        "y": 5692.3994140625,
                        "z": 364.5207824707031
                    },
                    "rotation": {
                        "roll": 0.0012667570263147354,
                        "pitch": 0.7336920499801636,
                        "yaw": -65.12983703613281
                    }
                },
                "velocity": {
                    "x": 0.9402088522911072,
                    "y": -2.02573823928833,
                    "z": 0.021985044702887535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9650198221206665,
                "transform": {
                    "location": {
                        "x": 202.26663208007812,
                        "y": 5678.58056640625,
                        "z": 364.6529235839844
                    },
                    "rotation": {
                        "roll": 0.0047408584505319595,
                        "pitch": 0.9322319626808167,
                        "yaw": -68.80935668945312
                    }
                },
                "velocity": {
                    "x": 0.7117697596549988,
                    "y": -1.8313511610031128,
                    "z": 0.028981655836105347
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.212372303009033,
                "transform": {
                    "location": {
                        "x": 211.3310089111328,
                        "y": 5649.75439453125,
                        "z": 364.90753173828125
                    },
                    "rotation": {
                        "roll": -0.000122096884297207,
                        "pitch": 0.6246207356452942,
                        "yaw": -76.02033996582031
                    }
                },
                "velocity": {
                    "x": 0.5353463888168335,
                    "y": -2.1465470790863037,
                    "z": 0.018193330615758896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6142754554748535,
                "transform": {
                    "location": {
                        "x": 214.48179626464844,
                        "y": 5634.89990234375,
                        "z": 365.0257873535156
                    },
                    "rotation": {
                        "roll": -0.001709039555862546,
                        "pitch": 0.7109543681144714,
                        "yaw": -79.69872283935547
                    }
                },
                "velocity": {
                    "x": 0.4689914882183075,
                    "y": -2.5717687606811523,
                    "z": 0.022094067186117172
                },
                "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": -0.03256135806441307,
        "expert_target_speed": 1.987093054275924,
        "target_point": [
            50.76730841910726,
            -5.493979049956835
        ],
        "target_point_next": [
            70.83719705680652,
            -10.816517964366904
        ]
    },
    "25": {
        "acceleration": [
            0.5616486072540283,
            -1.6705846786499023,
            0.014710426330566406
        ],
        "angular_velocity": [
            0.2289864867925644,
            0.005495527293533087,
            -0.5276825428009033
        ],
        "forward_vector": [
            0.3016982674598694,
            -0.9533172845840454,
            0.012815957888960838
        ],
        "right_vector": [
            0.9533951282501221,
            0.3017245829105377,
            0.00012356089428067207
        ],
        "location": [
            207.2431182861328,
            5664.35595703125,
            364.7839660644531
        ],
        "rotation": [
            -0.0070800986140966415,
            0.7343204021453857,
            -72.43887329101562
        ],
        "velocity": [
            0.4534291625022888,
            -1.412140965461731,
            0.011332559399306774
        ],
        "speed": 1.4831520865180066,
        "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": 15.90595817565918,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                211.5105438232422,
                5649.03369140625,
                364.9134826660156
            ],
            "velocity": [
                0.8981660008430481,
                -3.6059658527374268,
                0.028737124055624008
            ],
            "speed_kmh": 13.378501770806457,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0178210735321045,
                "transform": {
                    "location": {
                        "x": 215.39483642578125,
                        "y": 5596.52734375,
                        "z": 365.2940673828125
                    },
                    "rotation": {
                        "roll": -0.0350952111184597,
                        "pitch": 0.034950077533721924,
                        "yaw": 91.27830505371094
                    }
                },
                "velocity": {
                    "x": -0.11236746609210968,
                    "y": 3.0157039165496826,
                    "z": -0.012113065458834171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6443963050842285,
                "transform": {
                    "location": {
                        "x": 196.73155212402344,
                        "y": 5691.74169921875,
                        "z": 364.5279541015625
                    },
                    "rotation": {
                        "roll": 0.0016952396836131811,
                        "pitch": 0.7678908109664917,
                        "yaw": -65.11820983886719
                    }
                },
                "velocity": {
                    "x": 1.534401535987854,
                    "y": -3.3054580688476562,
                    "z": 0.03438426926732063
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9470767974853516,
                "transform": {
                    "location": {
                        "x": 202.4900665283203,
                        "y": 5678.00634765625,
                        "z": 364.659912109375
                    },
                    "rotation": {
                        "roll": 0.006266638170927763,
                        "pitch": 0.9567796587944031,
                        "yaw": -68.837646484375
                    }
                },
                "velocity": {
                    "x": 1.067793369293213,
                    "y": -2.7466681003570557,
                    "z": 0.029894951730966568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7162506580352783,
                "transform": {
                    "location": {
                        "x": 211.5105438232422,
                        "y": 5649.03369140625,
                        "z": 364.9134826660156
                    },
                    "rotation": {
                        "roll": 0.0018004109151661396,
                        "pitch": 0.6683886051177979,
                        "yaw": -75.99351501464844
                    }
                },
                "velocity": {
                    "x": 0.8981660008430481,
                    "y": -3.6059658527374268,
                    "z": 0.028737124055624008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.211336135864258,
                "transform": {
                    "location": {
                        "x": 214.63702392578125,
                        "y": 5634.0478515625,
                        "z": 365.0325012207031
                    },
                    "rotation": {
                        "roll": 0.002249542623758316,
                        "pitch": 0.7561155557632446,
                        "yaw": -79.68351745605469
                    }
                },
                "velocity": {
                    "x": 0.7555462718009949,
                    "y": -4.142891883850098,
                    "z": 0.03079596534371376
                },
                "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": -0.036046091467142105,
        "expert_target_speed": 2.499872996209965,
        "target_point": [
            50.45245692442829,
            -5.506845860955147
        ],
        "target_point_next": [
            70.52100693438717,
            -10.834429827711448
        ]
    },
    "30": {
        "acceleration": [
            0.6386351585388184,
            -1.826035976409912,
            0.009496677666902542
        ],
        "angular_velocity": [
            0.05765414237976074,
            -0.04893696308135986,
            1.6072914600372314
        ],
        "forward_vector": [
            0.3038928508758545,
            -0.9526289105415344,
            0.012134730815887451
        ],
        "right_vector": [
            0.9526980519294739,
            0.3039182722568512,
            0.00026629582862369716
        ],
        "location": [
            207.3748321533203,
            5663.951171875,
            364.7876892089844
        ],
        "rotation": [
            -0.015258751809597015,
            0.6952859163284302,
            -72.30709075927734
        ],
        "velocity": [
            0.604061484336853,
            -1.8329530954360962,
            0.015175361186265945
        ],
        "speed": 1.929924176471192,
        "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": 16.596027374267578,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                211.77163696289062,
                5647.94873046875,
                364.9222717285156
            ],
            "velocity": [
                1.168016791343689,
                -4.990758895874023,
                0.044984616339206696
            ],
            "speed_kmh": 18.452927602881488,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.430089950561523,
                "transform": {
                    "location": {
                        "x": 215.36038208007812,
                        "y": 5597.4697265625,
                        "z": 365.2880859375
                    },
                    "rotation": {
                        "roll": -0.0374145470559597,
                        "pitch": 0.15744268894195557,
                        "yaw": 91.7038345336914
                    }
                },
                "velocity": {
                    "x": -0.1726589798927307,
                    "y": 4.426630020141602,
                    "z": -0.02887910231947899
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.059921741485596,
                "transform": {
                    "location": {
                        "x": 197.18585205078125,
                        "y": 5690.7412109375,
                        "z": 364.5385437011719
                    },
                    "rotation": {
                        "roll": 0.02924073487520218,
                        "pitch": 0.7779790163040161,
                        "yaw": -65.46600341796875
                    }
                },
                "velocity": {
                    "x": 2.064732551574707,
                    "y": -4.619163513183594,
                    "z": 0.054930951446294785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.294995307922363,
                "transform": {
                    "location": {
                        "x": 202.8182830810547,
                        "y": 5677.154296875,
                        "z": 364.66802978515625
                    },
                    "rotation": {
                        "roll": 0.049733031541109085,
                        "pitch": 1.0530580282211304,
                        "yaw": -68.89591979980469
                    }
                },
                "velocity": {
                    "x": 1.4919607639312744,
                    "y": -4.027355670928955,
                    "z": 0.03802342340350151
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1258134841918945,
                "transform": {
                    "location": {
                        "x": 211.77163696289062,
                        "y": 5647.94873046875,
                        "z": 364.9222717285156
                    },
                    "rotation": {
                        "roll": 0.028223134577274323,
                        "pitch": 0.6718242168426514,
                        "yaw": -76.36388397216797
                    }
                },
                "velocity": {
                    "x": 1.168016791343689,
                    "y": -4.990758895874023,
                    "z": 0.044984616339206696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.347558498382568,
                "transform": {
                    "location": {
                        "x": 214.84405517578125,
                        "y": 5632.8369140625,
                        "z": 365.0420227050781
                    },
                    "rotation": {
                        "roll": 0.03771866858005524,
                        "pitch": 0.7032635807991028,
                        "yaw": -80.12295532226562
                    }
                },
                "velocity": {
                    "x": 0.8784341812133789,
                    "y": -5.274763107299805,
                    "z": 0.040102843195199966
                },
                "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": -0.04874878004193306,
        "expert_target_speed": 2.9645999663512344,
        "target_point": [
            50.013989481411926,
            -5.625335010857972
        ],
        "target_point_next": [
            70.07023300876429,
            -10.999062394769034
        ]
    },
    "35": {
        "acceleration": [
            0.6007885932922363,
            -2.1197891235351562,
            0.02546176314353943
        ],
        "angular_velocity": [
            -0.11729925125837326,
            0.1281844526529312,
            -0.36392056941986084
        ],
        "forward_vector": [
            0.306548148393631,
            -0.9517771601676941,
            0.012186343781650066
        ],
        "right_vector": [
            0.9518476724624634,
            0.30657145380973816,
            4.527065539150499e-05
        ],
        "location": [
            207.54600524902344,
            5663.4306640625,
            364.7921447753906
        ],
        "rotation": [
            -0.002594010205939412,
            0.6982433795928955,
            -72.14730072021484
        ],
        "velocity": [
            0.7618406414985657,
            -2.3220691680908203,
            0.019350862130522728
        ],
        "speed": 2.443850728755122,
        "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": 17.403722763061523,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                212.077880859375,
                5646.6279296875,
                364.9327392578125
            ],
            "velocity": [
                1.2411513328552246,
                -5.378823280334473,
                0.0406254380941391
            ],
            "speed_kmh": 19.87312396984541,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.507770538330078,
                "transform": {
                    "location": {
                        "x": 215.31163024902344,
                        "y": 5598.7333984375,
                        "z": 365.2797546386719
                    },
                    "rotation": {
                        "roll": -0.0340881310403347,
                        "pitch": 0.12387913465499878,
                        "yaw": 92.08212280273438
                    }
                },
                "velocity": {
                    "x": -0.2228410691022873,
                    "y": 5.503133296966553,
                    "z": -0.037473853677511215
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.405018329620361,
                "transform": {
                    "location": {
                        "x": 197.7265625,
                        "y": 5689.52490234375,
                        "z": 364.5512390136719
                    },
                    "rotation": {
                        "roll": 0.013917334377765656,
                        "pitch": 0.6432330012321472,
                        "yaw": -65.91158294677734
                    }
                },
                "velocity": {
                    "x": 2.1900181770324707,
                    "y": -4.941188812255859,
                    "z": 0.05193533003330231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.356953144073486,
                "transform": {
                    "location": {
                        "x": 203.2481231689453,
                        "y": 5675.99560546875,
                        "z": 364.6791687011719
                    },
                    "rotation": {
                        "roll": 0.060811493545770645,
                        "pitch": 1.0551822185516357,
                        "yaw": -69.38933563232422
                    }
                },
                "velocity": {
                    "x": 1.8499670028686523,
                    "y": -5.027151584625244,
                    "z": 0.04811020568013191
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.520312309265137,
                "transform": {
                    "location": {
                        "x": 212.077880859375,
                        "y": 5646.6279296875,
                        "z": 364.9327392578125
                    },
                    "rotation": {
                        "roll": 0.016271084547042847,
                        "pitch": 0.5486622452735901,
                        "yaw": -76.7818832397461
                    }
                },
                "velocity": {
                    "x": 1.2411513328552246,
                    "y": -5.378823280334473,
                    "z": 0.0406254380941391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.462080955505371,
                "transform": {
                    "location": {
                        "x": 215.0633544921875,
                        "y": 5631.5068359375,
                        "z": 365.0519104003906
                    },
                    "rotation": {
                        "roll": 0.02045130357146263,
                        "pitch": 0.5187391638755798,
                        "yaw": -80.48982238769531
                    }
                },
                "velocity": {
                    "x": 0.8819493055343628,
                    "y": -5.390252113342285,
                    "z": 0.04093662276864052
                },
                "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": -0.062050700187683105,
        "expert_target_speed": 3.4867884347973903,
        "target_point": [
            49.45018471555128,
            -5.7681627157382565
        ],
        "target_point_next": [
            69.4913626594228,
            -11.197806999403328
        ]
    },
    "40": {
        "acceleration": [
            0.8288466930389404,
            -2.5798797607421875,
            0.05092564970254898
        ],
        "angular_velocity": [
            -0.16409559547901154,
            -0.10025905072689056,
            0.8369233012199402
        ],
        "forward_vector": [
            0.307659775018692,
            -0.9514115452766418,
            0.012709513306617737
        ],
        "right_vector": [
            0.9514890313148499,
            0.30768266320228577,
            -0.0001635281223570928
        ],
        "location": [
            207.75897216796875,
            5662.77490234375,
            364.7975769042969
        ],
        "rotation": [
            0.0093702282756567,
            0.72822105884552,
            -72.08025360107422
        ],
        "velocity": [
            0.9489471912384033,
            -2.918506622314453,
            0.02607530541718006
        ],
        "speed": 3.0689056154030827,
        "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": 18.256088256835938,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                212.42202758789062,
                5645.125,
                364.9446716308594
            ],
            "velocity": [
                1.6160427331924438,
                -7.087000370025635,
                0.05606900155544281
            ],
            "speed_kmh": 26.168883138713657,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.348081111907959,
                "transform": {
                    "location": {
                        "x": 215.24819946289062,
                        "y": 5600.16796875,
                        "z": 365.2701416015625
                    },
                    "rotation": {
                        "roll": -0.0584716722369194,
                        "pitch": -0.02587958611547947,
                        "yaw": 92.52131652832031
                    }
                },
                "velocity": {
                    "x": -0.30454838275909424,
                    "y": 6.34060525894165,
                    "z": -0.04591119661927223
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.171381950378418,
                "transform": {
                    "location": {
                        "x": 198.3378143310547,
                        "y": 5688.13916015625,
                        "z": 364.56573486328125
                    },
                    "rotation": {
                        "roll": 0.013897303491830826,
                        "pitch": 0.7950885891914368,
                        "yaw": -66.19526672363281
                    }
                },
                "velocity": {
                    "x": 2.888368844985962,
                    "y": -6.563642978668213,
                    "z": 0.0680910274386406
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.464759826660156,
                "transform": {
                    "location": {
                        "x": 203.70851135253906,
                        "y": 5674.74609375,
                        "z": 364.6920166015625
                    },
                    "rotation": {
                        "roll": 0.031976617872714996,
                        "pitch": 0.7390059232711792,
                        "yaw": -69.68148803710938
                    }
                },
                "velocity": {
                    "x": 1.8801716566085815,
                    "y": -5.13092041015625,
                    "z": 0.04700322076678276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.269134044647217,
                "transform": {
                    "location": {
                        "x": 212.42202758789062,
                        "y": 5645.125,
                        "z": 364.9446716308594
                    },
                    "rotation": {
                        "roll": 0.01193394884467125,
                        "pitch": 0.6990219950675964,
                        "yaw": -77.05374908447266
                    }
                },
                "velocity": {
                    "x": 1.6160427331924438,
                    "y": -7.087000370025635,
                    "z": 0.05606900155544281
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.804103851318359,
                "transform": {
                    "location": {
                        "x": 215.33045959472656,
                        "y": 5629.86279296875,
                        "z": 365.064453125
                    },
                    "rotation": {
                        "roll": 0.017580395564436913,
                        "pitch": 0.8102926015853882,
                        "yaw": -80.7156982421875
                    }
                },
                "velocity": {
                    "x": 1.2459638118743896,
                    "y": -7.703788757324219,
                    "z": 0.05698010325431824
                },
                "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": -0.07510186731815338,
        "expert_target_speed": 4.121276448659639,
        "target_point": [
            48.75392436314783,
            -5.826895553878272
        ],
        "target_point_next": [
            68.78873455623524,
            -11.279989258558215
        ]
    },
    "45": {
        "acceleration": [
            0.8662819862365723,
            -2.733283042907715,
            0.029073543846607208
        ],
        "angular_velocity": [
            -0.1062990054488182,
            -0.060970988124608994,
            -0.484649658203125
        ],
        "forward_vector": [
            0.30736809968948364,
            -0.951495885848999,
            0.013429952785372734
        ],
        "right_vector": [
            0.9515829086303711,
            0.307391881942749,
            -0.0003062942996621132
        ],
        "location": [
            208.02359008789062,
            5661.95556640625,
            364.8043518066406
        ],
        "rotation": [
            0.01755095273256302,
            0.7695027589797974,
            -72.09764099121094
        ],
        "velocity": [
            1.1611788272857666,
            -3.606212615966797,
            0.02946307137608528
        ],
        "speed": 3.788549287061584,
        "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": 19.36456298828125,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                212.855224609375,
                5643.2041015625,
                364.9598388671875
            ],
            "velocity": [
                1.7615339756011963,
                -8.091599464416504,
                0.06456857174634933
            ],
            "speed_kmh": 29.81294588102615,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.840263843536377,
                "transform": {
                    "location": {
                        "x": 215.1619415283203,
                        "y": 5601.94921875,
                        "z": 365.2566833496094
                    },
                    "rotation": {
                        "roll": -0.0405578538775444,
                        "pitch": 0.17744147777557373,
                        "yaw": 92.75416564941406
                    }
                },
                "velocity": {
                    "x": -0.3896543085575104,
                    "y": 7.830376625061035,
                    "z": -0.05574967712163925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.728708744049072,
                "transform": {
                    "location": {
                        "x": 199.10702514648438,
                        "y": 5686.3837890625,
                        "z": 364.58349609375
                    },
                    "rotation": {
                        "roll": 0.03072168491780758,
                        "pitch": 0.6760315895080566,
                        "yaw": -66.39203643798828
                    }
                },
                "velocity": {
                    "x": 3.0603668689727783,
                    "y": -7.096614360809326,
                    "z": 0.07184965163469315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2438204288482666,
                "transform": {
                    "location": {
                        "x": 204.09007263183594,
                        "y": 5673.71044921875,
                        "z": 364.7044372558594
                    },
                    "rotation": {
                        "roll": 0.00365508277900517,
                        "pitch": -0.14171959459781647,
                        "yaw": -70.1904525756836
                    }
                },
                "velocity": {
                    "x": 0.7793870568275452,
                    "y": -2.104029417037964,
                    "z": 0.0186073686927557
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.281373977661133,
                "transform": {
                    "location": {
                        "x": 212.855224609375,
                        "y": 5643.2041015625,
                        "z": 364.9598388671875
                    },
                    "rotation": {
                        "roll": 0.04000111296772957,
                        "pitch": 0.6421128511428833,
                        "yaw": -77.4177474975586
                    }
                },
                "velocity": {
                    "x": 1.7615339756011963,
                    "y": -8.091599464416504,
                    "z": 0.06456857174634933
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.273076057434082,
                "transform": {
                    "location": {
                        "x": 215.65280151367188,
                        "y": 5627.81591796875,
                        "z": 365.07965087890625
                    },
                    "rotation": {
                        "roll": 0.07370107620954514,
                        "pitch": 0.5962139964103699,
                        "yaw": -81.15190124511719
                    }
                },
                "velocity": {
                    "x": 1.2206166982650757,
                    "y": -8.182304382324219,
                    "z": 0.06150389462709427
                },
                "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": -0.08596038818359375,
        "expert_target_speed": 4.8352491742201735,
        "target_point": [
            47.894684272435015,
            -5.812033372539567
        ],
        "target_point_next": [
            67.93114973036421,
            -11.259041944064842
        ]
    },
    "50": {
        "acceleration": [
            0.5341196060180664,
            -2.0022201538085938,
            -0.00046975910663604736
        ],
        "angular_velocity": [
            0.1528550088405609,
            0.14734549820423126,
            -0.3281034827232361
        ],
        "forward_vector": [
            0.3065076768398285,
            -0.9517782330513,
            0.013084633275866508
        ],
        "right_vector": [
            0.9518613219261169,
            0.306528776884079,
            -0.0004092603630851954
        ],
        "location": [
            208.3375701904297,
            5660.9794921875,
            364.8126220703125
        ],
        "rotation": [
            0.023450899869203568,
            0.7497156858444214,
            -72.14952850341797
        ],
        "velocity": [
            1.3277339935302734,
            -4.154946804046631,
            0.0337308794260025
        ],
        "speed": 4.361933115263594,
        "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": 20.37218475341797,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                213.27491760253906,
                5641.21533203125,
                364.9752197265625
            ],
            "velocity": [
                1.5816017389297485,
                -7.6291422843933105,
                0.061060208827257156
            ],
            "speed_kmh": 28.049753957770555,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.368264198303223,
                "transform": {
                    "location": {
                        "x": 215.05882263183594,
                        "y": 5604.0234375,
                        "z": 365.2425842285156
                    },
                    "rotation": {
                        "roll": -0.023895263671875,
                        "pitch": 0.011973320506513119,
                        "yaw": 92.86077880859375
                    }
                },
                "velocity": {
                    "x": -0.421750009059906,
                    "y": 8.35741138458252,
                    "z": -0.06039454787969589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.482350826263428,
                "transform": {
                    "location": {
                        "x": 199.80203247070312,
                        "y": 5684.744140625,
                        "z": 364.5997314453125
                    },
                    "rotation": {
                        "roll": 0.03412196785211563,
                        "pitch": 0.4171742796897888,
                        "yaw": -67.0684585571289
                    }
                },
                "velocity": {
                    "x": 2.507680654525757,
                    "y": -5.977354049682617,
                    "z": 0.0604090690612793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.30547553300857544,
                "transform": {
                    "location": {
                        "x": 204.1281280517578,
                        "y": 5673.6162109375,
                        "z": 364.7068786621094
                    },
                    "rotation": {
                        "roll": 0.010794776491820812,
                        "pitch": -0.5606628656387329,
                        "yaw": -70.4859619140625
                    }
                },
                "velocity": {
                    "x": 0.10408899933099747,
                    "y": -0.2871798872947693,
                    "z": 0.0029145239386707544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.791598320007324,
                "transform": {
                    "location": {
                        "x": 213.27491760253906,
                        "y": 5641.21533203125,
                        "z": 364.9752197265625
                    },
                    "rotation": {
                        "roll": 0.040156736969947815,
                        "pitch": 0.4276790916919708,
                        "yaw": -78.33261108398438
                    }
                },
                "velocity": {
                    "x": 1.5816017389297485,
                    "y": -7.6291422843933105,
                    "z": 0.061060208827257156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.798812389373779,
                "transform": {
                    "location": {
                        "x": 215.93687438964844,
                        "y": 5625.8447265625,
                        "z": 365.0942077636719
                    },
                    "rotation": {
                        "roll": 0.05582376942038536,
                        "pitch": 0.3883918523788452,
                        "yaw": -81.84526824951172
                    }
                },
                "velocity": {
                    "x": 1.0853466987609863,
                    "y": -7.722709655761719,
                    "z": 0.057018671184778214
                },
                "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": -0.11509761214256287,
        "expert_target_speed": 5.384608554789038,
        "target_point": [
            46.87459569715477,
            -5.768331260845702
        ],
        "target_point_next": [
            66.91598479576145,
            -11.19719609829638
        ]
    },
    "55": {
        "acceleration": [
            0.4457712173461914,
            -1.943197250366211,
            0.007550641894340515
        ],
        "angular_velocity": [
            0.10158581286668777,
            0.10862123966217041,
            -1.3554580211639404
        ],
        "forward_vector": [
            0.3024002015590668,
            -0.9531001448631287,
            0.012418903410434723
        ],
        "right_vector": [
            0.9531766772270203,
            0.30241256952285767,
            -0.0009157693712040782
        ],
        "location": [
            208.68507385253906,
            5659.8759765625,
            364.8219909667969
        ],
        "rotation": [
            0.052473776042461395,
            0.71156907081604,
            -72.39677429199219
        ],
        "velocity": [
            1.4419076442718506,
            -4.651626110076904,
            0.037661246955394745
        ],
        "speed": 4.86998184006458,
        "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": 21.068588256835938,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                213.64569091796875,
                5639.400390625,
                364.98944091796875
            ],
            "velocity": [
                1.43601393699646,
                -7.103384017944336,
                0.05607570707798004
            ],
            "speed_kmh": 26.090276952162267,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8297319412231445,
                "transform": {
                    "location": {
                        "x": 214.9403839111328,
                        "y": 5606.033203125,
                        "z": 365.22979736328125
                    },
                    "rotation": {
                        "roll": -0.08767697960138321,
                        "pitch": -0.4193667471408844,
                        "yaw": 93.42062377929688
                    }
                },
                "velocity": {
                    "x": -0.49370819330215454,
                    "y": 7.81394624710083,
                    "z": -0.05654476583003998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7992924451828003,
                "transform": {
                    "location": {
                        "x": 200.15765380859375,
                        "y": 5683.90869140625,
                        "z": 364.6070556640625
                    },
                    "rotation": {
                        "roll": -0.010711664333939552,
                        "pitch": -0.14508004486560822,
                        "yaw": -68.54975891113281
                    }
                },
                "velocity": {
                    "x": 0.33943331241607666,
                    "y": -0.7236021161079407,
                    "z": 0.007303647696971893
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2735557556152344,
                "transform": {
                    "location": {
                        "x": 204.20343017578125,
                        "y": 5673.40869140625,
                        "z": 364.7052917480469
                    },
                    "rotation": {
                        "roll": -0.0018310265149921179,
                        "pitch": 0.3889451026916504,
                        "yaw": -70.4399642944336
                    }
                },
                "velocity": {
                    "x": 0.4341681897640228,
                    "y": -1.1972172260284424,
                    "z": 0.010638684965670109
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.2472991943359375,
                "transform": {
                    "location": {
                        "x": 213.64569091796875,
                        "y": 5639.400390625,
                        "z": 364.98944091796875
                    },
                    "rotation": {
                        "roll": 0.024664217606186867,
                        "pitch": 0.378638356924057,
                        "yaw": -78.70555114746094
                    }
                },
                "velocity": {
                    "x": 1.43601393699646,
                    "y": -7.103384017944336,
                    "z": 0.05607570707798004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.154253005981445,
                "transform": {
                    "location": {
                        "x": 216.21054077148438,
                        "y": 5623.87353515625,
                        "z": 365.1087951660156
                    },
                    "rotation": {
                        "roll": 0.03173210844397545,
                        "pitch": 0.466850221157074,
                        "yaw": -82.11774444580078
                    }
                },
                "velocity": {
                    "x": 1.1094640493392944,
                    "y": -8.07821273803711,
                    "z": 0.05841502174735069
                },
                "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": -0.1464129239320755,
        "expert_target_speed": 5.857731555675659,
        "target_point": [
            45.74211604679435,
            -5.563501865028082
        ],
        "target_point_next": [
            65.80674573899788,
            -10.905831482320876
        ]
    },
    "60": {
        "acceleration": [
            0.5084943771362305,
            -2.3197555541992188,
            0.009743645787239075
        ],
        "angular_velocity": [
            0.27094462513923645,
            0.13835777342319489,
            -0.7750758528709412
        ],
        "forward_vector": [
            0.29657962918281555,
            -0.9549474120140076,
            0.010767608880996704
        ],
        "right_vector": [
            0.9550054669380188,
            0.29658642411231995,
            -0.0009967675432562828
        ],
        "location": [
            209.054443359375,
            5658.6748046875,
            364.8324279785156
        ],
        "rotation": [
            0.0571138933300972,
            0.6169504523277283,
            -72.74668884277344
        ],
        "velocity": [
            1.4798349142074585,
            -4.882375717163086,
            0.04067007824778557
        ],
        "speed": 5.101715791461844,
        "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": 21.721078872680664,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                214.01031494140625,
                5637.52734375,
                365.00421142578125
            ],
            "velocity": [
                1.4795682430267334,
                -7.898009300231934,
                0.06168089807033539
            ],
            "speed_kmh": 28.92829670109547,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.067994117736816,
                "transform": {
                    "location": {
                        "x": 214.8143768310547,
                        "y": 5608.00048828125,
                        "z": 365.2155456542969
                    },
                    "rotation": {
                        "roll": -0.055297862738370895,
                        "pitch": -0.37585845589637756,
                        "yaw": 93.69715881347656
                    }
                },
                "velocity": {
                    "x": -0.5298592448234558,
                    "y": 8.050375938415527,
                    "z": -0.056691333651542664
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.822291910648346,
                "transform": {
                    "location": {
                        "x": 200.1931915283203,
                        "y": 5683.82177734375,
                        "z": 364.6086730957031
                    },
                    "rotation": {
                        "roll": 0.0009140471811406314,
                        "pitch": 0.3376025855541229,
                        "yaw": -68.5290298461914
                    }
                },
                "velocity": {
                    "x": 0.30820295214653015,
                    "y": -0.7623218894004822,
                    "z": 0.006342258304357529
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0845234394073486,
                "transform": {
                    "location": {
                        "x": 204.3473358154297,
                        "y": 5673.01123046875,
                        "z": 364.7077941894531
                    },
                    "rotation": {
                        "roll": -0.0031432779505848885,
                        "pitch": 0.713891327381134,
                        "yaw": -70.3470458984375
                    }
                },
                "velocity": {
                    "x": 0.7102953791618347,
                    "y": -1.959690809249878,
                    "z": 0.01818079873919487
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.035637855529785,
                "transform": {
                    "location": {
                        "x": 214.01031494140625,
                        "y": 5637.52734375,
                        "z": 365.00421142578125
                    },
                    "rotation": {
                        "roll": 0.0488593727350235,
                        "pitch": 0.512872040271759,
                        "yaw": -79.2513198852539
                    }
                },
                "velocity": {
                    "x": 1.4795682430267334,
                    "y": -7.898009300231934,
                    "z": 0.06168089807033539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025040626525879,
                "transform": {
                    "location": {
                        "x": 216.46389770507812,
                        "y": 5621.85498046875,
                        "z": 365.12347412109375
                    },
                    "rotation": {
                        "roll": 0.06668265163898468,
                        "pitch": 0.4112866520881653,
                        "yaw": -82.89226531982422
                    }
                },
                "velocity": {
                    "x": 0.9611823558807373,
                    "y": -7.967051029205322,
                    "z": 0.05924229323863983
                },
                "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": -0.15491977334022522,
        "expert_target_speed": 6.082383451710275,
        "target_point": [
            44.51856459038434,
            -5.280523279069517
        ],
        "target_point_next": [
            64.61544725242017,
            -10.500212704066211
        ]
    },
    "65": {
        "acceleration": [
            -0.1141667366027832,
            0.22629737854003906,
            -0.11496484279632568
        ],
        "angular_velocity": [
            0.20441798865795135,
            0.003187889000400901,
            -1.7455663681030273
        ],
        "forward_vector": [
            0.2900784909725189,
            -0.9569637775421143,
            0.008651147596538067
        ],
        "right_vector": [
            0.9570016264915466,
            0.290080726146698,
            -0.0010238555260002613
        ],
        "location": [
            209.4140625,
            5657.47509765625,
            364.8424987792969
        ],
        "rotation": [
            0.05866480618715286,
            0.49568045139312744,
            -73.1366958618164
        ],
        "velocity": [
            1.417150855064392,
            -4.796461582183838,
            0.035466860979795456
        ],
        "speed": 5.001435819379793,
        "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": 22.44679832458496,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                214.3681182861328,
                5635.58251953125,
                365.01904296875
            ],
            "velocity": [
                1.3566477298736572,
                -7.448291301727295,
                0.058522529900074005
            ],
            "speed_kmh": 27.255818791455045,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.109158515930176,
                "transform": {
                    "location": {
                        "x": 214.67007446289062,
                        "y": 5610.0341796875,
                        "z": 365.2010498046875
                    },
                    "rotation": {
                        "roll": -0.11767573654651642,
                        "pitch": -0.36911022663116455,
                        "yaw": 94.16605377197266
                    }
                },
                "velocity": {
                    "x": -0.6373777985572815,
                    "y": 8.083868980407715,
                    "z": -0.057051997631788254
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7664272785186768,
                "transform": {
                    "location": {
                        "x": 200.3203887939453,
                        "y": 5683.50927734375,
                        "z": 364.6121520996094
                    },
                    "rotation": {
                        "roll": -0.007324232719838619,
                        "pitch": 0.600810706615448,
                        "yaw": -68.28516387939453
                    }
                },
                "velocity": {
                    "x": 0.6653951406478882,
                    "y": -1.6362370252609253,
                    "z": 0.015585155226290226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3664937019348145,
                "transform": {
                    "location": {
                        "x": 204.5751495361328,
                        "y": 5672.36865234375,
                        "z": 364.71282958984375
                    },
                    "rotation": {
                        "roll": 0.04331998899579048,
                        "pitch": 0.9318153262138367,
                        "yaw": -70.41667938232422
                    }
                },
                "velocity": {
                    "x": 1.0972919464111328,
                    "y": -3.18251371383667,
                    "z": 0.028932999819517136
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.571060657501221,
                "transform": {
                    "location": {
                        "x": 214.3681182861328,
                        "y": 5635.58251953125,
                        "z": 365.01904296875
                    },
                    "rotation": {
                        "roll": 0.027221912518143654,
                        "pitch": 0.40689483284950256,
                        "yaw": -79.79542541503906
                    }
                },
                "velocity": {
                    "x": 1.3566477298736572,
                    "y": -7.448291301727295,
                    "z": 0.058522529900074005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.62415075302124,
                "transform": {
                    "location": {
                        "x": 216.693115234375,
                        "y": 5619.91552734375,
                        "z": 365.1375427246094
                    },
                    "rotation": {
                        "roll": 0.038808468729257584,
                        "pitch": 0.34929585456848145,
                        "yaw": -83.28495788574219
                    }
                },
                "velocity": {
                    "x": 0.8800801634788513,
                    "y": -7.5729804039001465,
                    "z": 0.05569783225655556
                },
                "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": -0.17440536618232727,
        "expert_target_speed": 5.995570458086117,
        "target_point": [
            43.301036061166265,
            -4.973504295031671
        ],
        "target_point_next": [
            63.432982670765476,
            -10.056276779936523
        ]
    },
    "70": {
        "acceleration": [
            -0.28481245040893555,
            0.5214309692382812,
            -0.09526252746582031
        ],
        "angular_velocity": [
            0.05509762465953827,
            0.011377987451851368,
            -1.8185887336730957
        ],
        "forward_vector": [
            0.28339681029319763,
            -0.9589665532112122,
            0.008329891599714756
        ],
        "right_vector": [
            0.9590016603469849,
            0.2833986282348633,
            -0.000984017737209797
        ],
        "location": [
            209.76702880859375,
            5656.2705078125,
            364.8523254394531
        ],
        "rotation": [
            0.05638202279806137,
            0.4772731065750122,
            -73.53636932373047
        ],
        "velocity": [
            1.39700448513031,
            -4.844001770019531,
            0.0359124094247818
        ],
        "speed": 5.041425857773429,
        "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": 23.005430221557617,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                214.69053649902344,
                5633.798828125,
                365.03271484375
            ],
            "velocity": [
                1.24748957157135,
                -6.9317626953125,
                0.05238906666636467
            ],
            "speed_kmh": 25.355939806454906,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.930909156799316,
                "transform": {
                    "location": {
                        "x": 214.50999450683594,
                        "y": 5612.02294921875,
                        "z": 365.1872863769531
                    },
                    "rotation": {
                        "roll": -0.0834350436925888,
                        "pitch": -0.4507719576358795,
                        "yaw": 94.6618423461914
                    }
                },
                "velocity": {
                    "x": -0.6611403226852417,
                    "y": 7.903100967407227,
                    "z": -0.056632187217473984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5117205381393433,
                "transform": {
                    "location": {
                        "x": 200.51210021972656,
                        "y": 5683.0390625,
                        "z": 364.6166687011719
                    },
                    "rotation": {
                        "roll": -0.0022888011299073696,
                        "pitch": 0.5377134680747986,
                        "yaw": -67.96913146972656
                    }
                },
                "velocity": {
                    "x": 0.5689788460731506,
                    "y": -1.4005035161972046,
                    "z": 0.0123231690376997
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.723400592803955,
                "transform": {
                    "location": {
                        "x": 204.90936279296875,
                        "y": 5671.400390625,
                        "z": 364.72113037109375
                    },
                    "rotation": {
                        "roll": 0.03456581011414528,
                        "pitch": 1.0592256784439087,
                        "yaw": -70.72151184082031
                    }
                },
                "velocity": {
                    "x": 1.532861590385437,
                    "y": -4.467576503753662,
                    "z": 0.04008885473012924
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.04331636428833,
                "transform": {
                    "location": {
                        "x": 214.69053649902344,
                        "y": 5633.798828125,
                        "z": 365.03271484375
                    },
                    "rotation": {
                        "roll": 0.013194562867283821,
                        "pitch": 0.35400867462158203,
                        "yaw": -79.96482849121094
                    }
                },
                "velocity": {
                    "x": 1.24748957157135,
                    "y": -6.9317626953125,
                    "z": 0.05238906666636467
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.29030179977417,
                "transform": {
                    "location": {
                        "x": 216.9013214111328,
                        "y": 5618.0625,
                        "z": 365.15087890625
                    },
                    "rotation": {
                        "roll": 0.06663689017295837,
                        "pitch": 0.3429642617702484,
                        "yaw": -83.65404510498047
                    }
                },
                "velocity": {
                    "x": 0.7552054524421692,
                    "y": -7.250893592834473,
                    "z": 0.05203121155500412
                },
                "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": -0.18376106023788452,
        "expert_target_speed": 6.033688545661107,
        "target_point": [
            42.07943944333009,
            -4.668455410214465
        ],
        "target_point_next": [
            62.24634969121292,
            -9.610679755476156
        ]
    },
    "75": {
        "acceleration": [
            -0.5725359916687012,
            1.2336158752441406,
            -0.015813037753105164
        ],
        "angular_velocity": [
            0.47448253631591797,
            0.13405980169773102,
            -5.951561450958252
        ],
        "forward_vector": [
            0.2736864387989044,
            -0.9617857336997986,
            0.007997306995093822
        ],
        "right_vector": [
            0.9618186354637146,
            0.2736843228340149,
            -0.001380259869620204
        ],
        "location": [
            210.113037109375,
            5655.04931640625,
            364.8623352050781
        ],
        "rotation": [
            0.07908562570810318,
            0.4582168757915497,
            -74.11573028564453
        ],
        "velocity": [
            1.3306043148040771,
            -4.829430103302002,
            0.03904156759381294
        ],
        "speed": 5.009381495280112,
        "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": 23.467269897460938,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                214.9765625,
                5632.09228515625,
                365.0456848144531
            ],
            "velocity": [
                1.097293496131897,
                -6.720052719116211,
                0.05176587775349617
            ],
            "speed_kmh": 24.513288291559043,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.093890190124512,
                "transform": {
                    "location": {
                        "x": 214.341796875,
                        "y": 5614.02099609375,
                        "z": 365.1726989746094
                    },
                    "rotation": {
                        "roll": -0.043731689453125,
                        "pitch": -0.3898330330848694,
                        "yaw": 94.83341979980469
                    }
                },
                "velocity": {
                    "x": -0.688322901725769,
                    "y": 8.06436824798584,
                    "z": -0.05689885839819908
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8184632062911987,
                "transform": {
                    "location": {
                        "x": 200.5526580810547,
                        "y": 5682.939453125,
                        "z": 364.61761474609375
                    },
                    "rotation": {
                        "roll": -0.0016784563194960356,
                        "pitch": 0.4744180738925934,
                        "yaw": -67.94245910644531
                    }
                },
                "velocity": {
                    "x": 0.3092176616191864,
                    "y": -0.757777750492096,
                    "z": 0.006273889448493719
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.384866714477539,
                "transform": {
                    "location": {
                        "x": 205.33335876464844,
                        "y": 5670.166015625,
                        "z": 364.7330322265625
                    },
                    "rotation": {
                        "roll": 0.02248399518430233,
                        "pitch": 0.9216451644897461,
                        "yaw": -70.947021484375
                    }
                },
                "velocity": {
                    "x": 1.7427014112472534,
                    "y": -5.094870090484619,
                    "z": 0.045640744268894196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.80924654006958,
                "transform": {
                    "location": {
                        "x": 214.9765625,
                        "y": 5632.09228515625,
                        "z": 365.0456848144531
                    },
                    "rotation": {
                        "roll": 0.034921806305646896,
                        "pitch": 0.3901677131652832,
                        "yaw": -80.74304962158203
                    }
                },
                "velocity": {
                    "x": 1.097293496131897,
                    "y": -6.720052719116211,
                    "z": 0.05176587775349617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.9303765296936035,
                "transform": {
                    "location": {
                        "x": 217.07757568359375,
                        "y": 5616.2958984375,
                        "z": 365.1635437011719
                    },
                    "rotation": {
                        "roll": 0.04656418040394783,
                        "pitch": 0.33445385098457336,
                        "yaw": -84.2681884765625
                    }
                },
                "velocity": {
                    "x": 0.6686285734176636,
                    "y": -6.897876262664795,
                    "z": 0.048537757247686386
                },
                "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": -0.18066202104091644,
        "expert_target_speed": 6.0073224008254495,
        "target_point": [
            40.85523296952419,
            -4.241268798158577
        ],
        "target_point_next": [
            61.07108830019319,
            -8.979310975526825
        ]
    },
    "80": {
        "acceleration": [
            -0.39394378662109375,
            0.7302474975585938,
            -0.011487379670143127
        ],
        "angular_velocity": [
            0.413962185382843,
            0.06767764687538147,
            1.198426604270935
        ],
        "forward_vector": [
            0.26442286372184753,
            -0.9643723368644714,
            0.008154778741300106
        ],
        "right_vector": [
            0.9644065499305725,
            0.2644197344779968,
            -0.0014784688828513026
        ],
        "location": [
            210.45132446289062,
            5653.798828125,
            364.8722229003906
        ],
        "rotation": [
            0.08471287786960602,
            0.4672395586967468,
            -74.66681671142578
        ],
        "velocity": [
            1.303774356842041,
            -4.95125675201416,
            0.040550220757722855
        ],
        "speed": 5.120036230137897,
        "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": 23.872943878173828,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                215.24609375,
                5630.4130859375,
                365.0585021972656
            ],
            "velocity": [
                1.095461368560791,
                -6.902475833892822,
                0.05273814871907234
            ],
            "speed_kmh": 25.160623694479177,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.014561653137207,
                "transform": {
                    "location": {
                        "x": 214.14874267578125,
                        "y": 5616.02783203125,
                        "z": 365.1584167480469
                    },
                    "rotation": {
                        "roll": -0.11801142990589142,
                        "pitch": -0.4188545048236847,
                        "yaw": 95.55424499511719
                    }
                },
                "velocity": {
                    "x": -0.8113693594932556,
                    "y": 7.973186016082764,
                    "z": -0.056501250714063644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.667773962020874,
                "transform": {
                    "location": {
                        "x": 200.6726531982422,
                        "y": 5682.6455078125,
                        "z": 364.6207275390625
                    },
                    "rotation": {
                        "roll": -0.002105716383084655,
                        "pitch": 0.6210485696792603,
                        "yaw": -67.9087142944336
                    }
                },
                "velocity": {
                    "x": 0.6311289668083191,
                    "y": -1.5436747074127197,
                    "z": 0.01464097946882248
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.683996200561523,
                "transform": {
                    "location": {
                        "x": 205.80506896972656,
                        "y": 5668.78759765625,
                        "z": 364.7449035644531
                    },
                    "rotation": {
                        "roll": 0.016406666487455368,
                        "pitch": 0.9948443174362183,
                        "yaw": -71.07846069335938
                    }
                },
                "velocity": {
                    "x": 2.1593072414398193,
                    "y": -6.325350761413574,
                    "z": 0.05596064403653145
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.989062309265137,
                "transform": {
                    "location": {
                        "x": 215.24609375,
                        "y": 5630.4130859375,
                        "z": 365.0585021972656
                    },
                    "rotation": {
                        "roll": 0.01837248168885708,
                        "pitch": 0.4344068467617035,
                        "yaw": -81.10588073730469
                    }
                },
                "velocity": {
                    "x": 1.095461368560791,
                    "y": -6.902475833892822,
                    "z": 0.05273814871907234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.654894828796387,
                "transform": {
                    "location": {
                        "x": 217.238037109375,
                        "y": 5614.61279296875,
                        "z": 365.1754150390625
                    },
                    "rotation": {
                        "roll": 0.023900166153907776,
                        "pitch": 0.3479161560535431,
                        "yaw": -84.53753662109375
                    }
                },
                "velocity": {
                    "x": 0.622465968132019,
                    "y": -6.62554407119751,
                    "z": 0.048235367983579636
                },
                "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": -0.17583918571472168,
        "expert_target_speed": 6.112425250758389,
        "target_point": [
            39.5987045927989,
            -3.84371343750074
        ],
        "target_point_next": [
            59.859194332401074,
            -8.3871048950503
        ]
    },
    "85": {
        "acceleration": [
            -0.1957988739013672,
            -0.09950637817382812,
            -0.001063719391822815
        ],
        "angular_velocity": [
            -0.06366021186113358,
            -0.051272399723529816,
            -5.757267475128174
        ],
        "forward_vector": [
            0.25406333804130554,
            -0.9671579003334045,
            0.007576273288577795
        ],
        "right_vector": [
            0.9671874642372131,
            0.25406014919281006,
            -0.0014008065918460488
        ],
        "location": [
            210.76998901367188,
            5652.5712890625,
            364.8821716308594
        ],
        "rotation": [
            0.08026263862848282,
            0.43409264087677,
            -75.28147888183594
        ],
        "velocity": [
            1.2388637065887451,
            -4.907795429229736,
            0.04017329216003418
        ],
        "speed": 5.061742709647646,
        "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": 24.469093322753906,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                215.5369415283203,
                5628.57177734375,
                365.0724182128906
            ],
            "velocity": [
                1.233989953994751,
                -7.8148393630981445,
                0.058481521904468536
            ],
            "speed_kmh": 28.48277264830905,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02236557006836,
                "transform": {
                    "location": {
                        "x": 213.94381713867188,
                        "y": 5618.0185546875,
                        "z": 365.14398193359375
                    },
                    "rotation": {
                        "roll": -0.07354738563299179,
                        "pitch": -0.4292568862438202,
                        "yaw": 95.92806243896484
                    }
                },
                "velocity": {
                    "x": -0.8412598967552185,
                    "y": 7.977930545806885,
                    "z": -0.05701977014541626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9428937435150146,
                "transform": {
                    "location": {
                        "x": 200.88929748535156,
                        "y": 5682.11669921875,
                        "z": 364.6259765625
                    },
                    "rotation": {
                        "roll": -0.0022582660894840956,
                        "pitch": 0.6994386315345764,
                        "yaw": -67.79053497314453
                    }
                },
                "velocity": {
                    "x": 1.1169798374176025,
                    "y": -2.722557544708252,
                    "z": 0.025689629837870598
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7624006271362305,
                "transform": {
                    "location": {
                        "x": 206.38999938964844,
                        "y": 5667.05224609375,
                        "z": 364.75994873046875
                    },
                    "rotation": {
                        "roll": 0.10648953914642334,
                        "pitch": 1.0292479991912842,
                        "yaw": -71.42681884765625
                    }
                },
                "velocity": {
                    "x": 2.4081714153289795,
                    "y": -7.37912130355835,
                    "z": 0.06434229016304016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.911881446838379,
                "transform": {
                    "location": {
                        "x": 215.5369415283203,
                        "y": 5628.57177734375,
                        "z": 365.0724182128906
                    },
                    "rotation": {
                        "roll": 0.009939313866198063,
                        "pitch": 0.5481773018836975,
                        "yaw": -81.16551208496094
                    }
                },
                "velocity": {
                    "x": 1.233989953994751,
                    "y": -7.8148393630981445,
                    "z": 0.058481521904468536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.3659234046936035,
                "transform": {
                    "location": {
                        "x": 217.3846893310547,
                        "y": 5612.98486328125,
                        "z": 365.18695068359375
                    },
                    "rotation": {
                        "roll": 0.0554598867893219,
                        "pitch": 0.34392049908638,
                        "yaw": -84.8658447265625
                    }
                },
                "velocity": {
                    "x": 0.5227814316749573,
                    "y": -6.344264507293701,
                    "z": 0.04459010064601898
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.16345010697841644,
        "expert_target_speed": 0,
        "target_point": [
            38.36943898837903,
            -3.4150119258467697
        ],
        "target_point_next": [
            58.6775034249595,
            -7.740791539367864
        ]
    },
    "90": {
        "acceleration": [
            1.2019538879394531,
            -6.222829818725586,
            0.03554493188858032
        ],
        "angular_velocity": [
            -1.4516334533691406,
            -0.2512040138244629,
            -2.201657295227051
        ],
        "forward_vector": [
            0.2442416101694107,
            -0.9696782231330872,
            0.008377095684409142
        ],
        "right_vector": [
            0.9697142243385315,
            0.24423836171627045,
            -0.0014230252709239721
        ],
        "location": [
            211.07569885253906,
            5651.34033203125,
            364.8918762207031
        ],
        "rotation": [
            0.08153623342514038,
            0.4799778461456299,
            -75.86247253417969
        ],
        "velocity": [
            1.243547797203064,
            -5.163456439971924,
            0.04150519147515297
        ],
        "speed": 5.31109155743112,
        "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": 25.130691528320312,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                215.8164825439453,
                5626.66162109375,
                365.08642578125
            ],
            "velocity": [
                1.030146837234497,
                -7.221741676330566,
                0.05425016209483147
            ],
            "speed_kmh": 26.262166163532243,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042732238769531,
                "transform": {
                    "location": {
                        "x": 213.72210693359375,
                        "y": 5620.01611328125,
                        "z": 365.1293640136719
                    },
                    "rotation": {
                        "roll": -0.1331482231616974,
                        "pitch": -0.41372501850128174,
                        "yaw": 96.45024108886719
                    }
                },
                "velocity": {
                    "x": -0.956214427947998,
                    "y": 7.985484600067139,
                    "z": -0.05684121325612068
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.46488618850708,
                "transform": {
                    "location": {
                        "x": 201.2335968017578,
                        "y": 5681.24365234375,
                        "z": 364.6344909667969
                    },
                    "rotation": {
                        "roll": 0.015208367258310318,
                        "pitch": 0.7488141059875488,
                        "yaw": -68.17279815673828
                    }
                },
                "velocity": {
                    "x": 1.63522469997406,
                    "y": -4.154471397399902,
                    "z": 0.04020233079791069
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.816340446472168,
                "transform": {
                    "location": {
                        "x": 206.95663452148438,
                        "y": 5665.30224609375,
                        "z": 364.7772216796875
                    },
                    "rotation": {
                        "roll": 0.09305942058563232,
                        "pitch": 0.4724714756011963,
                        "yaw": -72.1187515258789
                    }
                },
                "velocity": {
                    "x": 2.071089506149292,
                    "y": -6.493838310241699,
                    "z": 0.05605863407254219
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.295046329498291,
                "transform": {
                    "location": {
                        "x": 215.8164825439453,
                        "y": 5626.66162109375,
                        "z": 365.08642578125
                    },
                    "rotation": {
                        "roll": 0.034345585852861404,
                        "pitch": 0.3761111795902252,
                        "yaw": -81.95487213134766
                    }
                },
                "velocity": {
                    "x": 1.030146837234497,
                    "y": -7.221741676330566,
                    "z": 0.05425016209483147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.946844100952148,
                "transform": {
                    "location": {
                        "x": 217.50428771972656,
                        "y": 5611.4560546875,
                        "z": 365.1977233886719
                    },
                    "rotation": {
                        "roll": 0.036650799214839935,
                        "pitch": 0.3253765404224396,
                        "yaw": -85.42851257324219
                    }
                },
                "velocity": {
                    "x": 0.44737112522125244,
                    "y": -5.929855823516846,
                    "z": 0.040315140038728714
                },
                "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": -0.14199170470237732,
        "expert_target_speed": 6.296310830930925,
        "target_point": [
            37.13375194235942,
            -3.021545421077273
        ],
        "target_point_next": [
            57.48463728660702,
            -7.141171148051418
        ]
    },
    "95": {
        "acceleration": [
            -0.43885231018066406,
            0.9851169586181641,
            -0.004116445779800415
        ],
        "angular_velocity": [
            0.46456149220466614,
            0.03384954854846001,
            -5.824433326721191
        ],
        "forward_vector": [
            0.23396383225917816,
            -0.9722155332565308,
            0.007606432307511568
        ],
        "right_vector": [
            0.9722451567649841,
            0.23396071791648865,
            -0.0013106390833854675
        ],
        "location": [
            211.3767852783203,
            5650.07373046875,
            364.9020080566406
        ],
        "rotation": [
            0.07509627938270569,
            0.43582069873809814,
            -76.46904754638672
        ],
        "velocity": [
            1.138325810432434,
            -4.934334754943848,
            0.040039002895355225
        ],
        "speed": 5.0639357346379725,
        "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": 25.47557258605957,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                216.044921875,
                5625.0302734375,
                365.0982666015625
            ],
            "velocity": [
                0.7744473814964294,
                -5.618476867675781,
                0.04254726320505142
            ],
            "speed_kmh": 20.418335946467653,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028289794921875,
                "transform": {
                    "location": {
                        "x": 213.47889709472656,
                        "y": 5622.009765625,
                        "z": 365.11480712890625
                    },
                    "rotation": {
                        "roll": -0.0965271145105362,
                        "pitch": -0.4293183386325836,
                        "yaw": 97.0099868774414
                    }
                },
                "velocity": {
                    "x": -0.999299168586731,
                    "y": 7.965646743774414,
                    "z": -0.057530779391527176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.334602355957031,
                "transform": {
                    "location": {
                        "x": 201.69679260253906,
                        "y": 5680.0615234375,
                        "z": 364.646240234375
                    },
                    "rotation": {
                        "roll": 0.009610963985323906,
                        "pitch": 0.6787226796150208,
                        "yaw": -68.46144104003906
                    }
                },
                "velocity": {
                    "x": 1.9432963132858276,
                    "y": -4.967822074890137,
                    "z": 0.048195693641901016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8645625114440918,
                "transform": {
                    "location": {
                        "x": 207.3191375732422,
                        "y": 5664.1669921875,
                        "z": 364.79144287109375
                    },
                    "rotation": {
                        "roll": 0.03802331164479256,
                        "pitch": -0.8108527064323425,
                        "yaw": -72.34867095947266
                    }
                },
                "velocity": {
                    "x": 0.5649992823600769,
                    "y": -1.7768528461456299,
                    "z": 0.012767734006047249
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.671760082244873,
                "transform": {
                    "location": {
                        "x": 216.044921875,
                        "y": 5625.0302734375,
                        "z": 365.0982666015625
                    },
                    "rotation": {
                        "roll": 0.02145722694694996,
                        "pitch": 0.21768495440483093,
                        "yaw": -82.2018814086914
                    }
                },
                "velocity": {
                    "x": 0.7744473814964294,
                    "y": -5.618476867675781,
                    "z": 0.04254726320505142
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.004296779632568,
                "transform": {
                    "location": {
                        "x": 217.61390686035156,
                        "y": 5609.978515625,
                        "z": 365.2081604003906
                    },
                    "rotation": {
                        "roll": 0.019412899389863014,
                        "pitch": 0.39536547660827637,
                        "yaw": -85.70003509521484
                    }
                },
                "velocity": {
                    "x": 0.4368689954280853,
                    "y": -5.988239765167236,
                    "z": 0.04139675199985504
                },
                "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": -0.11712266504764557,
        "expert_target_speed": 6.066268871972595,
        "target_point": [
            35.86176724712302,
            -2.624650782782095
        ],
        "target_point_next": [
            56.25512362890179,
            -6.528605945283595
        ]
    },
    "100": {
        "acceleration": [
            -0.36818504333496094,
            1.2935829162597656,
            0.012580230832099915
        ],
        "angular_velocity": [
            0.3957372009754181,
            -0.053391724824905396,
            -1.9875047206878662
        ],
        "forward_vector": [
            0.22440770268440247,
            -0.9744541645050049,
            0.00895392894744873
        ],
        "right_vector": [
            0.974494993686676,
            0.22440560162067413,
            -0.0012521104654297233
        ],
        "location": [
            211.665771484375,
            5648.798828125,
            364.911865234375
        ],
        "rotation": [
            0.07174354046583176,
            0.513029158115387,
            -77.03141784667969
        ],
        "velocity": [
            1.1453256607055664,
            -5.17604398727417,
            0.041530244052410126
        ],
        "speed": 5.301245346828209,
        "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": 25.282461166381836,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                216.19577026367188,
                5623.92626953125,
                365.1061706542969
            ],
            "velocity": [
                0.6078686118125916,
                -4.460928440093994,
                0.032476529479026794
            ],
            "speed_kmh": 16.208174546288703,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024373054504395,
                "transform": {
                    "location": {
                        "x": 213.22593688964844,
                        "y": 5624.0,
                        "z": 365.10015869140625
                    },
                    "rotation": {
                        "roll": -0.09954831749200821,
                        "pitch": -0.42858752608299255,
                        "yaw": 97.29417419433594
                    }
                },
                "velocity": {
                    "x": -1.0786164999008179,
                    "y": 7.951324462890625,
                    "z": -0.05988192930817604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.108364105224609,
                "transform": {
                    "location": {
                        "x": 202.19781494140625,
                        "y": 5678.77734375,
                        "z": 364.6584167480469
                    },
                    "rotation": {
                        "roll": 0.0102271419018507,
                        "pitch": 0.6285276412963867,
                        "yaw": -68.63715362548828
                    }
                },
                "velocity": {
                    "x": 2.217017650604248,
                    "y": -5.691572189331055,
                    "z": 0.054334353655576706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1623460054397583,
                "transform": {
                    "location": {
                        "x": 207.37062072753906,
                        "y": 5664.00439453125,
                        "z": 364.7915954589844
                    },
                    "rotation": {
                        "roll": 0.015088559128344059,
                        "pitch": -0.5186777114868164,
                        "yaw": -72.37675476074219
                    }
                },
                "velocity": {
                    "x": 0.3493363857269287,
                    "y": -1.1085554361343384,
                    "z": 0.010824250988662243
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.502270698547363,
                "transform": {
                    "location": {
                        "x": 216.19577026367188,
                        "y": 5623.92626953125,
                        "z": 365.1061706542969
                    },
                    "rotation": {
                        "roll": 0.010243737138807774,
                        "pitch": 0.24637174606323242,
                        "yaw": -82.32859802246094
                    }
                },
                "velocity": {
                    "x": 0.6078686118125916,
                    "y": -4.460928440093994,
                    "z": 0.032476529479026794
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.69440221786499,
                "transform": {
                    "location": {
                        "x": 217.71812438964844,
                        "y": 5608.50927734375,
                        "z": 365.2184143066406
                    },
                    "rotation": {
                        "roll": 0.04160216450691223,
                        "pitch": 0.3589332401752472,
                        "yaw": -85.91024780273438
                    }
                },
                "velocity": {
                    "x": 0.3581641614437103,
                    "y": -5.682981491088867,
                    "z": 0.04068860784173012
                },
                "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": -0.08432626724243164,
        "expert_target_speed": 6.271670883531698,
        "target_point": [
            34.578564409448425,
            -2.2680362923468866
        ],
        "target_point_next": [
            55.00925695314663,
            -5.971636245086557
        ]
    },
    "105": {
        "acceleration": [
            -0.14199256896972656,
            -0.31487464904785156,
            0.001447051763534546
        ],
        "angular_velocity": [
            -0.008585707284510136,
            0.05708719789981842,
            -1.8719619512557983
        ],
        "forward_vector": [
            0.2164597064256668,
            -0.9762609004974365,
            0.0077394661493599415
        ],
        "right_vector": [
            0.9762912392616272,
            0.21645879745483398,
            -0.0009638938354328275
        ],
        "location": [
            211.94639587402344,
            5647.51904296875,
            364.92218017578125
        ],
        "rotation": [
            0.055228713899850845,
            0.4434431791305542,
            -77.49844360351562
        ],
        "velocity": [
            1.0907974243164062,
            -5.1021528244018555,
            0.040865037590265274
        ],
        "speed": 5.217451721333618,
        "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": 25.23512840270996,
        "front_vehicle_info": {
            "id": 4434,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                216.35006713867188,
                5622.671875,
                365.1160583496094
            ],
            "velocity": [
                0.6377464532852173,
                -5.243102073669434,
                0.038628194481134415
            ],
            "speed_kmh": 19.014793796457663,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 215.10076904296875,
                        "y": 5509.27783203125,
                        "z": 366.1931457519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5155016779899597,
                        "yaw": 95.91863250732422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.043574333190918,
                "transform": {
                    "location": {
                        "x": 212.94741821289062,
                        "y": 5625.98974609375,
                        "z": 365.0851745605469
                    },
                    "rotation": {
                        "roll": -0.11514279991388321,
                        "pitch": -0.43056827783584595,
                        "yaw": 98.02996063232422
                    }
                },
                "velocity": {
                    "x": -1.1541011333465576,
                    "y": 7.960119247436523,
                    "z": -0.06029203161597252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.881968021392822,
                "transform": {
                    "location": {
                        "x": 202.85116577148438,
                        "y": 5677.08984375,
                        "z": 364.6745910644531
                    },
                    "rotation": {
                        "roll": 0.03586269170045853,
                        "pitch": 0.7438348531723022,
                        "yaw": -68.8759536743164
                    }
                },
                "velocity": {
                    "x": 2.7914340496063232,
                    "y": -7.370790004730225,
                    "z": 0.06907837092876434
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0715577602386475,
                "transform": {
                    "location": {
                        "x": 207.4978790283203,
                        "y": 5663.60107421875,
                        "z": 364.7916259765625
                    },
                    "rotation": {
                        "roll": 0.010061928071081638,
                        "pitch": 0.4217231869697571,
                        "yaw": -72.40666961669922
                    }
                },
                "velocity": {
                    "x": 0.6226326823234558,
                    "y": -1.975705623626709,
                    "z": 0.016362104564905167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4434,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.281887054443359,
                "transform": {
                    "location": {
                        "x": 216.35006713867188,
                        "y": 5622.671875,
                        "z": 365.1160583496094
                    },
                    "rotation": {
                        "roll": 0.021494511514902115,
                        "pitch": 0.4735642969608307,
                        "yaw": -82.80479431152344
                    }
                },
                "velocity": {
                    "x": 0.6377464532852173,
                    "y": -5.243102073669434,
                    "z": 0.038628194481134415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4433,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.495532512664795,
                "transform": {
                    "location": {
                        "x": 217.79898071289062,
                        "y": 5607.13037109375,
                        "z": 365.2282409667969
                    },
                    "rotation": {
                        "roll": 0.03372375667095184,
                        "pitch": 0.3613921105861664,
                        "yaw": -86.48503112792969
                    }
                },
                "velocity": {
                    "x": 0.3060625493526459,
                    "y": -5.486873149871826,
                    "z": 0.037744008004665375
                },
                "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": -0.058669865131378174,
        "expert_target_speed": 6.200899319895647,
        "target_point": [
            33.28571461013199,
            -1.9830619826332043
        ],
        "target_point_next": [
            53.74591546753765,
            -5.520014244068962
        ]
    },
    "110": {
        "acceleration": [
            -0.17470836639404297,
            0.24178504943847656,
            0.002729445695877075
        ],
        "angular_velocity": [
            0.02799399569630623,
            -0.03767821192741394,
            -1.733201503753662
        ],
        "forward_vector": [
            0.2087772786617279,
            -0.9779319763183594,
            0.007814565673470497
        ],
        "right_vector": [
            0.9779629111289978,
            0.2087763100862503,
            -0.0009468861389905214
        ],
        "location": [
            212.21530151367188,
            5646.24560546875,
            364.9322204589844
        ],
        "rotation": [
            0.05425424128770828,
            0.4477461874485016,
            -77.94892120361328
        ],
        "velocity": [
            1.0505708456039429,
            -5.098857879638672,
            0.040879763662815094
        ],
        "speed": 5.205963002018585,
        "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": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.8914031982422,
                        "y": 5511.5224609375,
                        "z": 366.0124816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019222259521484,
                "transform": {
                    "location": {
                        "x": 212.65780639648438,
                        "y": 5627.97607421875,
                        "z": 365.0702209472656
                    },
                    "rotation": {
                        "roll": -0.0647277757525444,
                        "pitch": -0.4368588626384735,
                        "yaw": 98.33455657958984
                    }
                },
                "velocity": {
                    "x": -1.1724019050598145,
                    "y": 7.932828426361084,
                    "z": -0.060334496200084686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.961581707000732,
                "transform": {
                    "location": {
                        "x": 203.51039123535156,
                        "y": 5675.3193359375,
                        "z": 364.6908264160156
                    },
                    "rotation": {
                        "roll": 0.034600190818309784,
                        "pitch": 0.46092846989631653,
                        "yaw": -69.88165283203125
                    }
                },
                "velocity": {
                    "x": 2.4093282222747803,
                    "y": -6.531083106994629,
                    "z": 0.0608966164290905
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.436720848083496,
                "transform": {
                    "location": {
                        "x": 207.67906188964844,
                        "y": 5663.0224609375,
                        "z": 364.7957763671875
                    },
                    "rotation": {
                        "roll": 0.03485913202166557,
                        "pitch": 0.6189107298851013,
                        "yaw": -72.4852294921875
                    }
                },
                "velocity": {
                    "x": 0.6974611282348633,
                    "y": -2.334678888320923,
                    "z": 0.020746802911162376
                },
                "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": -0.025783786550164223,
        "expert_target_speed": 6.248355824363979,
        "target_point": [
            31.998760717484657,
            -1.7184074228172754
        ],
        "target_point_next": [
            52.4861375391945,
            -5.094387486491454
        ]
    },
    "115": {
        "acceleration": [
            -0.0872182846069336,
            -0.64208984375,
            -0.0012727826833724976
        ],
        "angular_velocity": [
            -0.1160573661327362,
            0.031013159081339836,
            -1.8430321216583252
        ],
        "forward_vector": [
            0.20103412866592407,
            -0.979550838470459,
            0.00808838102966547
        ],
        "right_vector": [
            0.9795839786529541,
            0.20103321969509125,
            -0.000933257513679564
        ],
        "location": [
            212.47569274902344,
            5644.96240234375,
            364.9422607421875
        ],
        "rotation": [
            0.05347347632050514,
            0.4634351432323456,
            -78.40217590332031
        ],
        "velocity": [
            1.0208287239074707,
            -5.171284198760986,
            0.040735404938459396
        ],
        "speed": 5.271078784073485,
        "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": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.576171875,
                        "y": 5515.25732421875,
                        "z": 365.9541015625
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040428161621094,
                "transform": {
                    "location": {
                        "x": 212.35304260253906,
                        "y": 5629.96044921875,
                        "z": 365.0550842285156
                    },
                    "rotation": {
                        "roll": -0.132049560546875,
                        "pitch": -0.43579337000846863,
                        "yaw": 98.85137176513672
                    }
                },
                "velocity": {
                    "x": -1.2924302816390991,
                    "y": 7.935641765594482,
                    "z": -0.060756243765354156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7546286582946777,
                "transform": {
                    "location": {
                        "x": 203.98101806640625,
                        "y": 5674.03759765625,
                        "z": 364.70172119140625
                    },
                    "rotation": {
                        "roll": 0.019495129585266113,
                        "pitch": -0.030305547639727592,
                        "yaw": -70.45039367675781
                    }
                },
                "velocity": {
                    "x": 0.9508171677589417,
                    "y": -2.5852322578430176,
                    "z": 0.022363709285855293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.085350275039673,
                "transform": {
                    "location": {
                        "x": 207.83319091796875,
                        "y": 5662.5087890625,
                        "z": 364.8009948730469
                    },
                    "rotation": {
                        "roll": 0.024483243003487587,
                        "pitch": 0.41573992371559143,
                        "yaw": -72.77976989746094
                    }
                },
                "velocity": {
                    "x": 0.5923027992248535,
                    "y": -1.9993877410888672,
                    "z": 0.0176526065915823
                },
                "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": 0.009079236537218094,
        "expert_target_speed": 6.306233553375373,
        "target_point": [
            30.702000988808447,
            -1.4623038146889051
        ],
        "target_point_next": [
            51.21544481837596,
            -4.6760979394326965
        ]
    },
    "120": {
        "acceleration": [
            -0.04245758056640625,
            -0.12204170227050781,
            -0.007131993770599365
        ],
        "angular_velocity": [
            0.011416393332183361,
            -0.1336139440536499,
            -1.4870007038116455
        ],
        "forward_vector": [
            0.19366581737995148,
            -0.9810317158699036,
            0.008383176289498806
        ],
        "right_vector": [
            0.9810671806335449,
            0.19366608560085297,
            -0.0007881612982600927
        ],
        "location": [
            212.72991943359375,
            5643.66064453125,
            364.9524841308594
        ],
        "rotation": [
            0.04515990614891052,
            0.48032620549201965,
            -78.83280944824219
        ],
        "velocity": [
            1.0041276216506958,
            -5.249191761016846,
            0.0408453643321991
        ],
        "speed": 5.3443696002886085,
        "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": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.33218383789062,
                        "y": 5518.98291015625,
                        "z": 365.9202575683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02499771118164,
                "transform": {
                    "location": {
                        "x": 212.0262451171875,
                        "y": 5631.94189453125,
                        "z": 365.0399475097656
                    },
                    "rotation": {
                        "roll": -0.09536740183830261,
                        "pitch": -0.4405471682548523,
                        "yaw": 99.4195556640625
                    }
                },
                "velocity": {
                    "x": -1.3326460123062134,
                    "y": 7.913344383239746,
                    "z": -0.06011560186743736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7413132786750793,
                "transform": {
                    "location": {
                        "x": 204.041015625,
                        "y": 5673.87255859375,
                        "z": 364.7034606933594
                    },
                    "rotation": {
                        "roll": 0.011764522641897202,
                        "pitch": 0.12000641971826553,
                        "yaw": -70.47681427001953
                    }
                },
                "velocity": {
                    "x": 0.2514708340167999,
                    "y": -0.6973278522491455,
                    "z": 0.00645276065915823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9617958068847656,
                "transform": {
                    "location": {
                        "x": 208.00929260253906,
                        "y": 5661.91748046875,
                        "z": 364.80511474609375
                    },
                    "rotation": {
                        "roll": 0.017886122688651085,
                        "pitch": 0.6546735763549805,
                        "yaw": -73.0085678100586
                    }
                },
                "velocity": {
                    "x": 0.8403611779212952,
                    "y": -2.8399810791015625,
                    "z": 0.023128747940063477
                },
                "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": 0.04690028354525566,
        "expert_target_speed": 6.371203401526215,
        "target_point": [
            29.385776946864823,
            -1.2288096562187505
        ],
        "target_point_next": [
            49.92279583106117,
            -4.288336707124096
        ]
    },
    "125": {
        "acceleration": [
            0.5649161338806152,
            -3.9191436767578125,
            0.01644514501094818
        ],
        "angular_velocity": [
            -1.3195505142211914,
            -0.1570170819759369,
            -1.5097644329071045
        ],
        "forward_vector": [
            0.1875993311405182,
            -0.9821792840957642,
            0.011414160020649433
        ],
        "right_vector": [
            0.9822446703910828,
            0.18760289251804352,
            -0.000767457764595747
        ],
        "location": [
            212.98928833007812,
            5642.29052734375,
            364.962646484375
        ],
        "rotation": [
            0.04397495836019516,
            0.6539974212646484,
            -79.18656921386719
        ],
        "velocity": [
            1.1102179288864136,
            -5.984368324279785,
            0.046282872557640076
        ],
        "speed": 6.086480763977168,
        "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": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.15171813964844,
                        "y": 5522.5576171875,
                        "z": 365.8885192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03626537322998,
                "transform": {
                    "location": {
                        "x": 211.689208984375,
                        "y": 5633.9208984375,
                        "z": 365.02459716796875
                    },
                    "rotation": {
                        "roll": -0.10321044921875,
                        "pitch": -0.44452235102653503,
                        "yaw": 99.71456146240234
                    }
                },
                "velocity": {
                    "x": -1.420984148979187,
                    "y": 7.909401893615723,
                    "z": -0.060994669795036316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7834827899932861,
                "transform": {
                    "location": {
                        "x": 204.15467834472656,
                        "y": 5673.5576171875,
                        "z": 364.70697021484375
                    },
                    "rotation": {
                        "roll": 0.0016149849398061633,
                        "pitch": 0.5414427518844604,
                        "yaw": -70.40203094482422
                    }
                },
                "velocity": {
                    "x": 0.6045030355453491,
                    "y": -1.6778490543365479,
                    "z": 0.014464187435805798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.475336790084839,
                "transform": {
                    "location": {
                        "x": 208.25241088867188,
                        "y": 5661.0966796875,
                        "z": 364.81146240234375
                    },
                    "rotation": {
                        "roll": 0.015736259520053864,
                        "pitch": 0.7342316508293152,
                        "yaw": -73.24192810058594
                    }
                },
                "velocity": {
                    "x": 0.9828835725784302,
                    "y": -3.3333349227905273,
                    "z": 0.027994049713015556
                },
                "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": 0.07856046408414841,
        "expert_target_speed": 7.020915118811399,
        "target_point": [
            27.99835473315941,
            -1.0450666293098063
        ],
        "target_point_next": [
            48.553872338111255,
            -3.9777354509760947
        ]
    },
    "130": {
        "acceleration": [
            0.1385951042175293,
            -1.6129875183105469,
            0.008881986141204834
        ],
        "angular_velocity": [
            0.20114754140377045,
            0.057336319237947464,
            -1.5977113246917725
        ],
        "forward_vector": [
            0.18092761933803558,
            -0.9834147691726685,
            0.012672084383666515
        ],
        "right_vector": [
            0.9834953546524048,
            0.1809309422969818,
            -0.0008925194852054119
        ],
        "location": [
            213.2789764404297,
            5640.70849609375,
            364.9747619628906
        ],
        "rotation": [
            0.05114171281456947,
            0.7260763645172119,
            -79.57535552978516
        ],
        "velocity": [
            1.178284764289856,
            -6.574347972869873,
            0.049845390021800995
        ],
        "speed": 6.6791022041989905,
        "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": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.052734375,
                        "y": 5525.9541015625,
                        "z": 365.85882568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025484085083008,
                "transform": {
                    "location": {
                        "x": 211.32655334472656,
                        "y": 5635.8955078125,
                        "z": 365.00933837890625
                    },
                    "rotation": {
                        "roll": -0.115936279296875,
                        "pitch": -0.44629135727882385,
                        "yaw": 100.46119689941406
                    }
                },
                "velocity": {
                    "x": -1.4865155220031738,
                    "y": 7.886384010314941,
                    "z": -0.06010252982378006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9283828735351562,
                "transform": {
                    "location": {
                        "x": 204.33248901367188,
                        "y": 5673.06591796875,
                        "z": 364.71148681640625
                    },
                    "rotation": {
                        "roll": -0.0007019379991106689,
                        "pitch": 0.5240257382392883,
                        "yaw": -70.21407318115234
                    }
                },
                "velocity": {
                    "x": 0.6567500829696655,
                    "y": -1.8130300045013428,
                    "z": 0.016184214502573013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5685062408447266,
                "transform": {
                    "location": {
                        "x": 208.4921112060547,
                        "y": 5660.28466796875,
                        "z": 364.8189392089844
                    },
                    "rotation": {
                        "roll": 0.010029463097453117,
                        "pitch": 0.5589553117752075,
                        "yaw": -73.38731384277344
                    }
                },
                "velocity": {
                    "x": 1.0073171854019165,
                    "y": -3.423265218734741,
                    "z": 0.02834593690931797
                },
                "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": 0.11594649404287338,
        "expert_target_speed": 7.521974647094448,
        "target_point": [
            26.396466664402936,
            -0.8537163122850564
        ],
        "target_point_next": [
            46.9714100994063,
            -3.646842351594918
        ]
    },
    "135": {
        "acceleration": [
            0.08802413940429688,
            -1.8607616424560547,
            -0.0029884278774261475
        ],
        "angular_velocity": [
            0.17210005223751068,
            0.03316943347454071,
            -1.7352474927902222
        ],
        "forward_vector": [
            0.17376649379730225,
            -0.9847172498703003,
            0.011714190244674683
        ],
        "right_vector": [
            0.9847863912582397,
            0.17376619577407837,
            -0.0010520094074308872
        ],
        "location": [
            213.57867431640625,
            5639.0087890625,
            364.98822021484375
        ],
        "rotation": [
            0.06027984619140625,
            0.67118901014328,
            -79.99242401123047
        ],
        "velocity": [
            1.2031432390213013,
            -7.00337553024292,
            0.052716195583343506
        ],
        "speed": 7.105970902783656,
        "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": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.990234375,
                        "y": 5529.1796875,
                        "z": 365.8308410644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039580345153809,
                "transform": {
                    "location": {
                        "x": 210.95265197753906,
                        "y": 5637.86865234375,
                        "z": 364.9938049316406
                    },
                    "rotation": {
                        "roll": -0.0654907077550888,
                        "pitch": -0.4492488503456116,
                        "yaw": 100.76573181152344
                    }
                },
                "velocity": {
                    "x": -1.5118978023529053,
                    "y": 7.895902156829834,
                    "z": -0.061200808733701706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9287502765655518,
                "transform": {
                    "location": {
                        "x": 204.4812469482422,
                        "y": 5672.65380859375,
                        "z": 364.7152404785156
                    },
                    "rotation": {
                        "roll": 0.013332848437130451,
                        "pitch": 0.49932095408439636,
                        "yaw": -70.09844970703125
                    }
                },
                "velocity": {
                    "x": 0.631205141544342,
                    "y": -1.822468638420105,
                    "z": 0.01630440726876259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.747139930725098,
                "transform": {
                    "location": {
                        "x": 208.78773498535156,
                        "y": 5659.2802734375,
                        "z": 364.8263244628906
                    },
                    "rotation": {
                        "roll": 0.00998729933053255,
                        "pitch": 0.8120684623718262,
                        "yaw": -73.50495147705078
                    }
                },
                "velocity": {
                    "x": 1.3378782272338867,
                    "y": -4.554561138153076,
                    "z": 0.03730469569563866
                },
                "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": 0.1458871066570282,
        "expert_target_speed": 7.868703068915424,
        "target_point": [
            24.676054988440175,
            -0.6613174632449179
        ],
        "target_point_next": [
            45.27078475767172,
            -3.3046025703392594
        ]
    },
    "140": {
        "acceleration": [
            0.022656917572021484,
            -1.1139869689941406,
            0.01137465238571167
        ],
        "angular_velocity": [
            0.19872575998306274,
            -0.024692419916391373,
            -1.5896446704864502
        ],
        "forward_vector": [
            0.1665121614933014,
            -0.9859778881072998,
            0.01101161539554596
        ],
        "right_vector": [
            0.9860391020774841,
            0.1665101945400238,
            -0.001100239809602499
        ],
        "location": [
            213.88218688964844,
            5637.21240234375,
            365.00225830078125
        ],
        "rotation": [
            0.06304293125867844,
            0.6309318542480469,
            -80.41432189941406
        ],
        "velocity": [
            1.2134588956832886,
            -7.353559494018555,
            0.05714501067996025
        ],
        "speed": 7.453007428118084,
        "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": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.9851531982422,
                        "y": 5532.2431640625,
                        "z": 365.8047180175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020827293395996,
                "transform": {
                    "location": {
                        "x": 210.56398010253906,
                        "y": 5639.837890625,
                        "z": 364.978271484375
                    },
                    "rotation": {
                        "roll": -0.13134765625,
                        "pitch": -0.4554779827594757,
                        "yaw": 101.27689361572266
                    }
                },
                "velocity": {
                    "x": -1.6221766471862793,
                    "y": 7.854832172393799,
                    "z": -0.06183047220110893
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8983433246612549,
                "transform": {
                    "location": {
                        "x": 204.65296936035156,
                        "y": 5672.1572265625,
                        "z": 364.7196350097656
                    },
                    "rotation": {
                        "roll": 0.004442507866770029,
                        "pitch": 0.4915686845779419,
                        "yaw": -70.4766845703125
                    }
                },
                "velocity": {
                    "x": 0.6191762685775757,
                    "y": -1.7944467067718506,
                    "z": 0.01700565218925476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.792819499969482,
                "transform": {
                    "location": {
                        "x": 209.1296844482422,
                        "y": 5658.10693359375,
                        "z": 364.83642578125
                    },
                    "rotation": {
                        "roll": 0.05808485299348831,
                        "pitch": 0.6574876308441162,
                        "yaw": -73.68096160888672
                    }
                },
                "velocity": {
                    "x": 1.2825040817260742,
                    "y": -4.617891788482666,
                    "z": 0.03710099309682846
                },
                "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": 0.17225947976112366,
        "expert_target_speed": 8.14094328525233,
        "target_point": [
            22.858409084637152,
            -0.4797299654660452
        ],
        "target_point_next": [
            43.47204483943459,
            -2.9712899975736073
        ]
    },
    "145": {
        "acceleration": [
            0.6949734687805176,
            -0.2775096893310547,
            -0.010561719536781311
        ],
        "angular_velocity": [
            0.4957345128059387,
            -0.6499555110931396,
            1.3267337083816528
        ],
        "forward_vector": [
            0.16346979141235352,
            -0.9864975214004517,
            0.010010432451963425
        ],
        "right_vector": [
            0.9865469336509705,
            0.16347844898700714,
            4.633701973943971e-05
        ],
        "location": [
            214.19186401367188,
            5635.33984375,
            365.01690673828125
        ],
        "rotation": [
            -0.002655048854649067,
            0.5735651254653931,
            -80.59117126464844
        ],
        "velocity": [
            1.2784385681152344,
            -7.550017356872559,
            0.056557655334472656
        ],
        "speed": 7.657490924677706,
        "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": 74.79358673095703,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                264.5428161621094,
                5580.0390625,
                365.8451232910156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 168.49124145507812,
                        "y": 5583.5205078125,
                        "z": 366.0920104980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -8.926153149957372e-10,
                    "y": 2.1446943613417924e-12,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 168.49905395507812,
                        "y": 5586.7705078125,
                        "z": 366.0920104980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -7.721391859227822e-10,
                    "y": 1.8552253917142325e-12,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 264.5350036621094,
                        "y": 5576.7890625,
                        "z": 365.8451232910156
                    },
                    "rotation": {
                        "roll": -1.0423455154562333e-10,
                        "pitch": -0.9435974359512329,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 264.5428161621094,
                        "y": 5580.0390625,
                        "z": 365.8451232910156
                    },
                    "rotation": {
                        "roll": -1.0423455154562333e-10,
                        "pitch": -0.9435974359512329,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 120.58859252929688,
                        "y": 5577.1357421875,
                        "z": 366.67333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9817439913749695,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.6957015991211,
                        "y": 5577.17041015625,
                        "z": 366.9179992675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9034358859062195,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 120.59640502929688,
                        "y": 5580.3857421875,
                        "z": 366.67333984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9817439913749695,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.7035140991211,
                        "y": 5580.42041015625,
                        "z": 366.9179992675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9034358859062195,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.02671813964844,
                        "y": 5535.1513671875,
                        "z": 365.7801513671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04175853729248,
                "transform": {
                    "location": {
                        "x": 210.15350341796875,
                        "y": 5641.8037109375,
                        "z": 364.9626159667969
                    },
                    "rotation": {
                        "roll": -0.0971374586224556,
                        "pitch": -0.45376360416412354,
                        "yaw": 101.85678100585938
                    }
                },
                "velocity": {
                    "x": -1.6726009845733643,
                    "y": 7.865635395050049,
                    "z": -0.06373924016952515
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.881565511226654,
                "transform": {
                    "location": {
                        "x": 204.7049102783203,
                        "y": 5672.00732421875,
                        "z": 364.72100830078125
                    },
                    "rotation": {
                        "roll": -0.0010375892743468285,
                        "pitch": 0.4182329475879669,
                        "yaw": -70.56646728515625
                    }
                },
                "velocity": {
                    "x": 0.2865193784236908,
                    "y": -0.833675742149353,
                    "z": 0.007008714601397514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.154336452484131,
                "transform": {
                    "location": {
                        "x": 209.4637451171875,
                        "y": 5656.90185546875,
                        "z": 364.8465881347656
                    },
                    "rotation": {
                        "roll": 0.05940737575292587,
                        "pitch": 0.619819164276123,
                        "yaw": -74.23125457763672
                    }
                },
                "velocity": {
                    "x": 1.3624802827835083,
                    "y": -4.970832824707031,
                    "z": 0.040674179792404175
                },
                "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": 0.19150981307029724,
        "expert_target_speed": 8.294838371969973,
        "target_point": [
            20.961788292726883,
            -0.40857406421467823
        ],
        "target_point_next": [
            41.5830150162974,
            -2.8365071028630036
        ]
    },
    "150": {
        "acceleration": [
            -0.2074718475341797,
            1.1371517181396484,
            0.002287626266479492
        ],
        "angular_velocity": [
            0.46401843428611755,
            0.1878393143415451,
            0.46450576186180115
        ],
        "forward_vector": [
            0.16969257593154907,
            -0.9854651689529419,
            0.007928884588181973
        ],
        "right_vector": [
            0.985495388507843,
            0.1697012484073639,
            0.0004298209969419986
        ],
        "location": [
            214.51390075683594,
            5633.47119140625,
            365.03155517578125
        ],
        "rotation": [
            -0.024627702310681343,
            0.454296350479126,
            -80.22974395751953
        ],
        "velocity": [
            1.2777745723724365,
            -7.391031742095947,
            0.0562138631939888
        ],
        "speed": 7.500670508059358,
        "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": 71.791015625,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                262.4599914550781,
                5580.04345703125,
                365.8058776855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6081588864326477,
                "transform": {
                    "location": {
                        "x": 168.48953247070312,
                        "y": 5583.5205078125,
                        "z": 365.6883544921875
                    },
                    "rotation": {
                        "roll": 0.001700346008874476,
                        "pitch": -0.7969942688941956,
                        "yaw": -0.1376342624425888
                    }
                },
                "velocity": {
                    "x": -0.008460406213998795,
                    "y": 4.4948141294298694e-05,
                    "z": -0.6081000566482544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4035504162311554,
                "transform": {
                    "location": {
                        "x": 168.49765014648438,
                        "y": 5586.7705078125,
                        "z": 365.70721435546875
                    },
                    "rotation": {
                        "roll": -0.0013122562086209655,
                        "pitch": -0.802246630191803,
                        "yaw": -0.1375732421875
                    }
                },
                "velocity": {
                    "x": -0.005534040741622448,
                    "y": -6.474884139606729e-05,
                    "z": -0.40351244807243347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 262.4521789550781,
                        "y": 5576.79345703125,
                        "z": 365.8058776855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8347173929214478,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 262.4599914550781,
                        "y": 5580.04345703125,
                        "z": 365.8058776855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8347173929214478,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 119.82257843017578,
                        "y": 5577.13720703125,
                        "z": 366.65576171875
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 119.53304290771484,
                        "y": 5580.38818359375,
                        "z": 366.6490478515625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.0856170654297,
                        "y": 5537.91259765625,
                        "z": 365.75689697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021772384643555,
                "transform": {
                    "location": {
                        "x": 209.732421875,
                        "y": 5643.7666015625,
                        "z": 364.9468688964844
                    },
                    "rotation": {
                        "roll": -0.10195925086736679,
                        "pitch": -0.4553208649158478,
                        "yaw": 102.15364074707031
                    }
                },
                "velocity": {
                    "x": -1.748767614364624,
                    "y": 7.828576564788818,
                    "z": -0.06361047923564911
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.794661521911621,
                "transform": {
                    "location": {
                        "x": 204.81686401367188,
                        "y": 5671.68359375,
                        "z": 364.72412109375
                    },
                    "rotation": {
                        "roll": 0.0015104589983820915,
                        "pitch": 0.5901488065719604,
                        "yaw": -70.60879516601562
                    }
                },
                "velocity": {
                    "x": 0.5863752961158752,
                    "y": -1.6960991621017456,
                    "z": 0.014884814620018005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.0955586433410645,
                "transform": {
                    "location": {
                        "x": 209.80030822753906,
                        "y": 5655.67431640625,
                        "z": 364.85687255859375
                    },
                    "rotation": {
                        "roll": 0.03178972005844116,
                        "pitch": 0.4964454472064972,
                        "yaw": -74.53507995605469
                    }
                },
                "velocity": {
                    "x": 1.3379364013671875,
                    "y": -4.9166035652160645,
                    "z": 0.04065128415822983
                },
                "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": 0.1574033945798874,
        "expert_target_speed": 8.1668672577366,
        "target_point": [
            19.062595407627832,
            -0.5410505147457636
        ],
        "target_point_next": [
            39.6680967439915,
            -3.0990116368455527
        ]
    },
    "155": {
        "acceleration": [
            0.0002503395080566406,
            0.37792205810546875,
            -0.011803433299064636
        ],
        "angular_velocity": [
            0.061020586639642715,
            0.07857752591371536,
            0.6719679832458496
        ],
        "forward_vector": [
            0.17345793545246124,
            -0.9848187565803528,
            0.006663272622972727
        ],
        "right_vector": [
            0.9848398566246033,
            0.17346520721912384,
            0.0005246311775408685
        ],
        "location": [
            214.83428955078125,
            5631.6484375,
            365.045654296875
        ],
        "rotation": [
            -0.030059820041060448,
            0.3817802369594574,
            -80.0108413696289
        ],
        "velocity": [
            1.279970407485962,
            -7.2050628662109375,
            0.05561408773064613
        ],
        "speed": 7.317872310316131,
        "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": 68.85546875,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                260.4197692871094,
                5580.048828125,
                365.7664794921875
            ],
            "velocity": [
                -6.960672378540039,
                0.006143774371594191,
                -0.13018876314163208
            ],
            "speed_kmh": 25.06281290687684,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.22758015990257263,
                "transform": {
                    "location": {
                        "x": 168.48928833007812,
                        "y": 5583.5205078125,
                        "z": 365.7099914550781
                    },
                    "rotation": {
                        "roll": 0.0016605816781520844,
                        "pitch": -0.797943651676178,
                        "yaw": -0.1376952975988388
                    }
                },
                "velocity": {
                    "x": 0.0032083040568977594,
                    "y": -1.2567277735797688e-05,
                    "z": 0.22755753993988037
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1281503140926361,
                "transform": {
                    "location": {
                        "x": 168.49757385253906,
                        "y": 5586.7705078125,
                        "z": 365.7238464355469
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -0.8019666075706482,
                        "yaw": -0.1376342624425888
                    }
                },
                "velocity": {
                    "x": 0.0018248383421450853,
                    "y": -0.00021310930605977774,
                    "z": 0.12813714146614075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 260.3692932128906,
                        "y": 5576.79931640625,
                        "z": 365.76568603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8347173929214478,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.961892127990723,
                "transform": {
                    "location": {
                        "x": 260.4197692871094,
                        "y": 5580.048828125,
                        "z": 365.7664794921875
                    },
                    "rotation": {
                        "roll": -0.012237546034157276,
                        "pitch": -1.0137639045715332,
                        "yaw": 179.88514709472656
                    }
                },
                "velocity": {
                    "x": -6.960672378540039,
                    "y": 0.006143774371594191,
                    "z": -0.13018876314163208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 118.69390106201172,
                        "y": 5577.1396484375,
                        "z": 366.62994384765625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 118.4106216430664,
                        "y": 5580.3896484375,
                        "z": 366.6233825683594
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.16326904296875,
                        "y": 5540.53369140625,
                        "z": 365.7350769042969
                    },
                    "rotation": {
                        "roll": 5.336265829214426e-08,
                        "pitch": -0.4716450273990631,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040023803710938,
                "transform": {
                    "location": {
                        "x": 209.28616333007812,
                        "y": 5645.72412109375,
                        "z": 364.9311218261719
                    },
                    "rotation": {
                        "roll": -0.11831661313772202,
                        "pitch": -0.4533674418926239,
                        "yaw": 102.90528106689453
                    }
                },
                "velocity": {
                    "x": -1.826330542564392,
                    "y": 7.8295817375183105,
                    "z": -0.06439971923828125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.025667428970337,
                "transform": {
                    "location": {
                        "x": 205.0117950439453,
                        "y": 5671.1171875,
                        "z": 364.7293701171875
                    },
                    "rotation": {
                        "roll": 0.0040535335429012775,
                        "pitch": 0.6613262295722961,
                        "yaw": -70.697021484375
                    }
                },
                "velocity": {
                    "x": 0.9853268265724182,
                    "y": -2.86061954498291,
                    "z": 0.025501899421215057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.486077785491943,
                "transform": {
                    "location": {
                        "x": 210.20172119140625,
                        "y": 5654.19921875,
                        "z": 364.8675231933594
                    },
                    "rotation": {
                        "roll": 0.024382498115301132,
                        "pitch": 0.8313227891921997,
                        "yaw": -74.72416687011719
                    }
                },
                "velocity": {
                    "x": 1.6979857683181763,
                    "y": -6.259682655334473,
                    "z": 0.04918796569108963
                },
                "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": 0.13416065275669098,
        "expert_target_speed": 8.016493611863561,
        "target_point": [
            17.209691691802657,
            -0.6132363119020683
        ],
        "target_point_next": [
            37.80526889663565,
            -3.249910357896832
        ]
    },
    "160": {
        "acceleration": [
            -0.27016162872314453,
            0.81787109375,
            -0.021889135241508484
        ],
        "angular_velocity": [
            0.0171998031437397,
            0.14833477139472961,
            -0.7874557971954346
        ],
        "forward_vector": [
            0.17288310825824738,
            -0.9849211573600769,
            0.006456568371504545
        ],
        "right_vector": [
            0.9849420189857483,
            0.1728847324848175,
            -0.0003092605038546026
        ],
        "location": [
            215.14718627929688,
            5629.869140625,
            365.0592956542969
        ],
        "rotation": [
            0.017719691619277,
            0.36993667483329773,
            -80.04429626464844
        ],
        "velocity": [
            1.223318338394165,
            -7.048727989196777,
            0.05250464379787445
        ],
        "speed": 7.154094912896914,
        "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": 66.19828033447266,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                258.7208557128906,
                5580.03857421875,
                365.73944091796875
            ],
            "velocity": [
                -6.705782413482666,
                -0.04282345622777939,
                -0.09782185405492783
            ],
            "speed_kmh": 24.143877335609883,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.40879690647125244,
                "transform": {
                    "location": {
                        "x": 168.49609375,
                        "y": 5583.5205078125,
                        "z": 365.7392578125
                    },
                    "rotation": {
                        "roll": 0.0006957624573260546,
                        "pitch": -0.7937294244766235,
                        "yaw": -0.13543701171875
                    }
                },
                "velocity": {
                    "x": 0.40763700008392334,
                    "y": 0.0030782967805862427,
                    "z": 0.030618637800216675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.60649573802948,
                "transform": {
                    "location": {
                        "x": 168.7175750732422,
                        "y": 5586.7724609375,
                        "z": 365.7381591796875
                    },
                    "rotation": {
                        "roll": -0.0057373046875,
                        "pitch": -0.6160557270050049,
                        "yaw": -0.0558166541159153
                    }
                },
                "velocity": {
                    "x": 1.6064480543136597,
                    "y": 0.010696738958358765,
                    "z": 0.00622634869068861
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.656466484069824,
                "transform": {
                    "location": {
                        "x": 258.4091491699219,
                        "y": 5576.80419921875,
                        "z": 365.73388671875
                    },
                    "rotation": {
                        "roll": -0.01821899227797985,
                        "pitch": -1.1080615520477295,
                        "yaw": 179.9053497314453
                    }
                },
                "velocity": {
                    "x": -6.655825614929199,
                    "y": -0.00014724132779520005,
                    "z": -0.09238016605377197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.706632614135742,
                "transform": {
                    "location": {
                        "x": 258.7208557128906,
                        "y": 5580.03857421875,
                        "z": 365.73944091796875
                    },
                    "rotation": {
                        "roll": -0.0270385704934597,
                        "pitch": -0.941951334476471,
                        "yaw": -179.69573974609375
                    }
                },
                "velocity": {
                    "x": -6.705782413482666,
                    "y": -0.04282345622777939,
                    "z": -0.09782185405492783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 117.95484161376953,
                        "y": 5577.13916015625,
                        "z": 366.6130676269531
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 117.67562103271484,
                        "y": 5580.390625,
                        "z": 366.6065979003906
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.23670959472656,
                        "y": 5543.0234375,
                        "z": 365.7144470214844
                    },
                    "rotation": {
                        "roll": 5.336265829214426e-08,
                        "pitch": -0.4716450273990631,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024436950683594,
                "transform": {
                    "location": {
                        "x": 208.82843017578125,
                        "y": 5647.67919921875,
                        "z": 364.91546630859375
                    },
                    "rotation": {
                        "roll": -0.0677490383386612,
                        "pitch": -0.4554506540298462,
                        "yaw": 103.2176742553711
                    }
                },
                "velocity": {
                    "x": -1.8448816537857056,
                    "y": 7.809216022491455,
                    "z": -0.06441767513751984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.52728271484375,
                "transform": {
                    "location": {
                        "x": 205.32241821289062,
                        "y": 5670.212890625,
                        "z": 364.7375793457031
                    },
                    "rotation": {
                        "roll": 0.007214034907519817,
                        "pitch": 0.7106742858886719,
                        "yaw": -70.89530944824219
                    }
                },
                "velocity": {
                    "x": 1.4679679870605469,
                    "y": -4.282509803771973,
                    "z": 0.038342200219631195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.015430927276611,
                "transform": {
                    "location": {
                        "x": 210.60452270507812,
                        "y": 5652.69384765625,
                        "z": 364.8807678222656
                    },
                    "rotation": {
                        "roll": 0.08666739612817764,
                        "pitch": 0.475230872631073,
                        "yaw": -75.02925109863281
                    }
                },
                "velocity": {
                    "x": 1.4960297346115112,
                    "y": -5.826239585876465,
                    "z": 0.04729701951146126
                },
                "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": 0.09707812964916229,
        "expert_target_speed": 7.878609065543737,
        "target_point": [
            15.403447953915732,
            -0.6037418630028935
        ],
        "target_point_next": [
            36.00056351446955,
            -3.228371553121265
        ]
    },
    "165": {
        "acceleration": [
            -0.3200650215148926,
            0.1719379425048828,
            0.012184679508209229
        ],
        "angular_velocity": [
            -0.08060573786497116,
            0.1943531036376953,
            -1.7432481050491333
        ],
        "forward_vector": [
            0.16761210560798645,
            -0.9858314394950867,
            0.006519747897982597
        ],
        "right_vector": [
            0.9858530163764954,
            0.16760848462581635,
            -0.001101254252716899
        ],
        "location": [
            215.4453887939453,
            5628.119140625,
            365.0722961425781
        ],
        "rotation": [
            0.06309857219457626,
            0.3735566735267639,
            -80.35078430175781
        ],
        "velocity": [
            1.150568962097168,
            -6.949769020080566,
            0.05264994502067566
        ],
        "speed": 7.0443664277927045,
        "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": 63.57003402709961,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                257.0135803222656,
                5580.02734375,
                365.7154235839844
            ],
            "velocity": [
                -6.934658050537109,
                -0.045907292515039444,
                -0.09156966954469681
            ],
            "speed_kmh": 24.967492323268747,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4728307723999023,
                "transform": {
                    "location": {
                        "x": 168.93014526367188,
                        "y": 5583.5234375,
                        "z": 365.7347717285156
                    },
                    "rotation": {
                        "roll": -0.003631591098383069,
                        "pitch": -0.7530556321144104,
                        "yaw": 0.048885710537433624
                    }
                },
                "velocity": {
                    "x": 2.472407102584839,
                    "y": 0.025499947369098663,
                    "z": -0.03800469636917114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8076720237731934,
                "transform": {
                    "location": {
                        "x": 169.2609405517578,
                        "y": 5586.7763671875,
                        "z": 365.73370361328125
                    },
                    "rotation": {
                        "roll": -0.00811767391860485,
                        "pitch": -0.6042463183403015,
                        "yaw": 0.1252698451280594
                    }
                },
                "velocity": {
                    "x": 2.8073761463165283,
                    "y": 0.02208309806883335,
                    "z": -0.034261684864759445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.925680160522461,
                "transform": {
                    "location": {
                        "x": 256.7077941894531,
                        "y": 5576.798828125,
                        "z": 365.7147521972656
                    },
                    "rotation": {
                        "roll": -0.0464782752096653,
                        "pitch": -0.963958203792572,
                        "yaw": -179.76116943359375
                    }
                },
                "velocity": {
                    "x": -6.925153732299805,
                    "y": -0.05141245201230049,
                    "z": -0.06817398965358734
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.9354143142700195,
                "transform": {
                    "location": {
                        "x": 257.0135803222656,
                        "y": 5580.02734375,
                        "z": 365.7154235839844
                    },
                    "rotation": {
                        "roll": -0.01348876953125,
                        "pitch": -0.8247931003570557,
                        "yaw": -179.63519287109375
                    }
                },
                "velocity": {
                    "x": -6.934658050537109,
                    "y": -0.045907292515039444,
                    "z": -0.09156966954469681
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.86585998535156,
                        "y": 5577.14306640625,
                        "z": 366.58819580078125
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.59273529052734,
                        "y": 5580.39404296875,
                        "z": 366.5818176269531
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.30764770507812,
                        "y": 5545.3857421875,
                        "z": 365.695068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4630116820335388,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037785530090332,
                "transform": {
                    "location": {
                        "x": 208.351318359375,
                        "y": 5649.62939453125,
                        "z": 364.89971923828125
                    },
                    "rotation": {
                        "roll": -0.1330871433019638,
                        "pitch": -0.4561746418476105,
                        "yaw": 103.85913848876953
                    }
                },
                "velocity": {
                    "x": -1.970516562461853,
                    "y": 7.792236328125,
                    "z": -0.06418026983737946
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.506032466888428,
                "transform": {
                    "location": {
                        "x": 205.73866271972656,
                        "y": 5668.99560546875,
                        "z": 364.7486267089844
                    },
                    "rotation": {
                        "roll": 0.005524565000087023,
                        "pitch": 0.6506437659263611,
                        "yaw": -71.07413482666016
                    }
                },
                "velocity": {
                    "x": 1.779649019241333,
                    "y": -5.2102952003479,
                    "z": 0.04542071372270584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.197531700134277,
                "transform": {
                    "location": {
                        "x": 210.9521026611328,
                        "y": 5651.32861328125,
                        "z": 364.89263916015625
                    },
                    "rotation": {
                        "roll": 0.06718700379133224,
                        "pitch": 0.2245151400566101,
                        "yaw": -75.66581726074219
                    }
                },
                "velocity": {
                    "x": 1.261504888534546,
                    "y": -5.04194974899292,
                    "z": 0.041054628789424896
                },
                "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": 0.07598823308944702,
        "expert_target_speed": 7.781950857260766,
        "target_point": [
            13.631231561003279,
            -0.5220054308418054
        ],
        "target_point_next": [
            34.24209014118113,
            -3.0364355875508657
        ]
    },
    "170": {
        "acceleration": [
            -0.3093290328979492,
            0.7250690460205078,
            -0.003058016300201416
        ],
        "angular_velocity": [
            0.03778931498527527,
            0.026370786130428314,
            -1.7793160676956177
        ],
        "forward_vector": [
            0.1598794013261795,
            -0.9871152639389038,
            0.006482912693172693
        ],
        "right_vector": [
            0.9871364831924438,
            0.15987353026866913,
            -0.001418773434124887
        ],
        "location": [
            215.72406005859375,
            5626.4013671875,
            365.0851135253906
        ],
        "rotation": [
            0.08129146695137024,
            0.3714461624622345,
            -80.79991149902344
        ],
        "velocity": [
            1.072635293006897,
            -6.816112041473389,
            0.05236666649580002
        ],
        "speed": 6.899994915485266,
        "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": 61.08579635620117,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                255.4688262939453,
                5580.017578125,
                365.6950378417969
            ],
            "velocity": [
                -5.720846652984619,
                -0.03804130479693413,
                -0.07602972537279129
            ],
            "speed_kmh": 20.597321927066442,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.362769842147827,
                "transform": {
                    "location": {
                        "x": 169.66835021972656,
                        "y": 5583.52978515625,
                        "z": 365.7239685058594
                    },
                    "rotation": {
                        "roll": -0.006225585471838713,
                        "pitch": -0.7673580646514893,
                        "yaw": 0.24612121284008026
                    }
                },
                "velocity": {
                    "x": 3.362238645553589,
                    "y": 0.036544252187013626,
                    "z": -0.0472998209297657
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.423675060272217,
                "transform": {
                    "location": {
                        "x": 170.17999267578125,
                        "y": 5586.78466796875,
                        "z": 365.7215576171875
                    },
                    "rotation": {
                        "roll": -0.011230467818677425,
                        "pitch": -0.5560934543609619,
                        "yaw": 0.3397250473499298
                    }
                },
                "velocity": {
                    "x": 4.423057556152344,
                    "y": 0.041565749794244766,
                    "z": -0.06111735850572586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.713955402374268,
                "transform": {
                    "location": {
                        "x": 255.00132751464844,
                        "y": 5576.7861328125,
                        "z": 365.6932678222656
                    },
                    "rotation": {
                        "roll": -0.0205688439309597,
                        "pitch": -0.6861265897750854,
                        "yaw": -179.5204620361328
                    }
                },
                "velocity": {
                    "x": -6.71308708190918,
                    "y": -0.06580869108438492,
                    "z": -0.0856342688202858
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.72147798538208,
                "transform": {
                    "location": {
                        "x": 255.4688262939453,
                        "y": 5580.017578125,
                        "z": 365.6950378417969
                    },
                    "rotation": {
                        "roll": -0.00814819149672985,
                        "pitch": -0.9137290120124817,
                        "yaw": -179.6208038330078
                    }
                },
                "velocity": {
                    "x": -5.720846652984619,
                    "y": -0.03804130479693413,
                    "z": -0.07602972537279129
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 116.1528091430664,
                        "y": 5577.1455078125,
                        "z": 366.5718994140625
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.88359069824219,
                        "y": 5580.39599609375,
                        "z": 366.57958984375
                    },
                    "rotation": {
                        "roll": 1.0423491236810634e-10,
                        "pitch": 0.9556595087051392,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.3749237060547,
                        "y": 5547.6298828125,
                        "z": 365.67681884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4630116820335388,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026111602783203,
                "transform": {
                    "location": {
                        "x": 207.8562469482422,
                        "y": 5651.57470703125,
                        "z": 364.88397216796875
                    },
                    "rotation": {
                        "roll": -0.0856628566980362,
                        "pitch": -0.45465150475502014,
                        "yaw": 104.32405853271484
                    }
                },
                "velocity": {
                    "x": -2.0006773471832275,
                    "y": 7.77249813079834,
                    "z": -0.06347325444221497
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.899384021759033,
                "transform": {
                    "location": {
                        "x": 206.20623779296875,
                        "y": 5667.619140625,
                        "z": 364.7605285644531
                    },
                    "rotation": {
                        "roll": 0.02530514821410179,
                        "pitch": 0.5563530325889587,
                        "yaw": -71.20309448242188
                    }
                },
                "velocity": {
                    "x": 1.862234115600586,
                    "y": -5.597544193267822,
                    "z": 0.04812461882829666
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.208419322967529,
                "transform": {
                    "location": {
                        "x": 211.2626495361328,
                        "y": 5650.0859375,
                        "z": 364.9021301269531
                    },
                    "rotation": {
                        "roll": 0.03735930472612381,
                        "pitch": 0.3305196762084961,
                        "yaw": -75.94841766357422
                    }
                },
                "velocity": {
                    "x": 1.2519850730895996,
                    "y": -5.055538654327393,
                    "z": 0.041163645684719086
                },
                "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": 0.04711926728487015,
        "expert_target_speed": 7.655238390900825,
        "target_point": [
            11.894673827837904,
            -0.41558345329101565
        ],
        "target_point_next": [
            32.524608844892605,
            -2.768375755462873
        ]
    },
    "175": {
        "acceleration": [
            -0.21172523498535156,
            -0.2615642547607422,
            -0.013087093830108643
        ],
        "angular_velocity": [
            -0.16416609287261963,
            0.04952835664153099,
            -1.8173636198043823
        ],
        "forward_vector": [
            0.15210336446762085,
            -0.9883415102958679,
            0.006746478844434023
        ],
        "right_vector": [
            0.9883644580841064,
            0.15209661424160004,
            -0.0015031058574095368
        ],
        "location": [
            215.9853057861328,
            5624.70361328125,
            365.0977783203125
        ],
        "rotation": [
            0.08612361550331116,
            0.386547714471817,
            -81.25096130371094
        ],
        "velocity": [
            1.009434461593628,
            -6.77687406539917,
            0.04991105943918228
        ],
        "speed": 6.851640681656671,
        "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": 58.699405670166016,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                254.03225708007812,
                5580.0078125,
                365.6764831542969
            ],
            "velocity": [
                -5.824049949645996,
                -0.02697552554309368,
                -0.07219408452510834
            ],
            "speed_kmh": 20.96841547067975,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.137061595916748,
                "transform": {
                    "location": {
                        "x": 170.6102294921875,
                        "y": 5583.53857421875,
                        "z": 365.71087646484375
                    },
                    "rotation": {
                        "roll": -0.008819580078125,
                        "pitch": -0.773587167263031,
                        "yaw": 0.41599592566490173
                    }
                },
                "velocity": {
                    "x": 4.1364006996154785,
                    "y": 0.04709205403923988,
                    "z": -0.057012803852558136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.430791854858398,
                "transform": {
                    "location": {
                        "x": 171.4503936767578,
                        "y": 5586.796875,
                        "z": 365.7042541503906
                    },
                    "rotation": {
                        "roll": -0.006713866721838713,
                        "pitch": -0.6180433034896851,
                        "yaw": 0.489457368850708
                    }
                },
                "velocity": {
                    "x": 5.4301276206970215,
                    "y": 0.04065432772040367,
                    "z": -0.07458285987377167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.665635108947754,
                "transform": {
                    "location": {
                        "x": 253.44686889648438,
                        "y": 5576.77294921875,
                        "z": 365.6745910644531
                    },
                    "rotation": {
                        "roll": 0.006621448788791895,
                        "pitch": -0.9016941785812378,
                        "yaw": -179.49203491210938
                    }
                },
                "velocity": {
                    "x": -5.665064334869385,
                    "y": -0.03501850739121437,
                    "z": -0.07239484786987305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.824560165405273,
                "transform": {
                    "location": {
                        "x": 254.03225708007812,
                        "y": 5580.0078125,
                        "z": 365.6764831542969
                    },
                    "rotation": {
                        "roll": -0.00030517554841935635,
                        "pitch": -0.7248538136482239,
                        "yaw": -179.63323974609375
                    }
                },
                "velocity": {
                    "x": -5.824049949645996,
                    "y": -0.02697552554309368,
                    "z": -0.07219408452510834
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.43890380859375,
                        "y": 5549.76123046875,
                        "z": 365.6596374511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.45440563559532166,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036410331726074,
                "transform": {
                    "location": {
                        "x": 207.3524932861328,
                        "y": 5653.5185546875,
                        "z": 364.86822509765625
                    },
                    "rotation": {
                        "roll": -0.09664919227361679,
                        "pitch": -0.45440563559532166,
                        "yaw": 104.57665252685547
                    }
                },
                "velocity": {
                    "x": -2.0863542556762695,
                    "y": 7.760601043701172,
                    "z": -0.06386064738035202
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.14892578125,
                "transform": {
                    "location": {
                        "x": 206.77061462402344,
                        "y": 5665.88134765625,
                        "z": 364.77587890625
                    },
                    "rotation": {
                        "roll": 0.03745939955115318,
                        "pitch": 0.7364514470100403,
                        "yaw": -71.96324157714844
                    }
                },
                "velocity": {
                    "x": 2.49420166015625,
                    "y": -7.757546901702881,
                    "z": 0.06645625829696655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.009504795074463,
                "transform": {
                    "location": {
                        "x": 211.61241149902344,
                        "y": 5648.6728515625,
                        "z": 364.9113464355469
                    },
                    "rotation": {
                        "roll": 0.023946469649672508,
                        "pitch": 0.8870912790298462,
                        "yaw": -76.05856323242188
                    }
                },
                "velocity": {
                    "x": 1.6805791854858398,
                    "y": -6.804844379425049,
                    "z": 0.05387698858976364
                },
                "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": 0.030933989211916924,
        "expert_target_speed": 7.605191748032348,
        "target_point": [
            10.179840847634852,
            -0.3218916839642576
        ],
        "target_point_next": [
            30.82765987597243,
            -2.5121929869998736
        ]
    },
    "180": {
        "acceleration": [
            -0.18572330474853516,
            -0.01129150390625,
            -0.006042271852493286
        ],
        "angular_velocity": [
            -0.06314507126808167,
            -0.08610659837722778,
            -1.77274489402771
        ],
        "forward_vector": [
            0.14435157179832458,
            -0.9894996285438538,
            0.007287913933396339
        ],
        "right_vector": [
            0.9895263314247131,
            0.14434412121772766,
            -0.0015411755302920938
        ],
        "location": [
            216.23280334472656,
            5623.00732421875,
            365.110107421875
        ],
        "rotation": [
            0.08830523490905762,
            0.41757041215896606,
            -81.70004272460938
        ],
        "velocity": [
            0.9608438014984131,
            -6.8071465492248535,
            0.048843469470739365
        ],
        "speed": 6.874624713648139,
        "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": 56.163002014160156,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                252.3515625,
                5580.00244140625,
                365.6560974121094
            ],
            "velocity": [
                -7.873047828674316,
                -0.021939296275377274,
                -0.09619024395942688
            ],
            "speed_kmh": 28.34519753799896,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.96343994140625,
                        "y": 5510.7763671875,
                        "z": 366.03143310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.926004409790039,
                "transform": {
                    "location": {
                        "x": 171.74562072753906,
                        "y": 5583.5478515625,
                        "z": 365.6952209472656
                    },
                    "rotation": {
                        "roll": -0.004425048828125,
                        "pitch": -0.7747209668159485,
                        "yaw": 0.4357873499393463
                    }
                },
                "velocity": {
                    "x": 4.92546272277832,
                    "y": 0.026505250483751297,
                    "z": -0.06806664168834686
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.078643798828125,
                "transform": {
                    "location": {
                        "x": 172.84507751464844,
                        "y": 5586.8056640625,
                        "z": 365.6847839355469
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.6946165561676025,
                        "yaw": 0.39090466499328613
                    }
                },
                "velocity": {
                    "x": 6.077960014343262,
                    "y": 0.034086767584085464,
                    "z": -0.08458048850297928
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.180814743041992,
                "transform": {
                    "location": {
                        "x": 252.1103057861328,
                        "y": 5576.76416015625,
                        "z": 365.6580810546875
                    },
                    "rotation": {
                        "roll": 0.002122157718986273,
                        "pitch": -0.8773787021636963,
                        "yaw": -179.70587158203125
                    }
                },
                "velocity": {
                    "x": -5.180422782897949,
                    "y": -0.02435809001326561,
                    "z": -0.05890531465411186
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.873666286468506,
                "transform": {
                    "location": {
                        "x": 252.3515625,
                        "y": 5580.00244140625,
                        "z": 365.6560974121094
                    },
                    "rotation": {
                        "roll": 0.005291897803544998,
                        "pitch": -0.37921208143234253,
                        "yaw": -179.7784881591797
                    }
                },
                "velocity": {
                    "x": -7.873047828674316,
                    "y": -0.021939296275377274,
                    "z": -0.09619024395942688
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.4996795654297,
                        "y": 5551.78369140625,
                        "z": 365.6434326171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.45440563559532166,
                        "yaw": 88.28025817871094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025379180908203,
                "transform": {
                    "location": {
                        "x": 206.82374572753906,
                        "y": 5655.45556640625,
                        "z": 364.8525390625
                    },
                    "rotation": {
                        "roll": -0.11724855750799179,
                        "pitch": -0.4567825496196747,
                        "yaw": 105.32998657226562
                    }
                },
                "velocity": {
                    "x": -2.150891065597534,
                    "y": 7.731511116027832,
                    "z": -0.06418362259864807
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.748785495758057,
                "transform": {
                    "location": {
                        "x": 207.38616943359375,
                        "y": 5663.951171875,
                        "z": 364.79205322265625
                    },
                    "rotation": {
                        "roll": 0.02168687805533409,
                        "pitch": 0.48874780535697937,
                        "yaw": -72.3468246459961
                    }
                },
                "velocity": {
                    "x": 2.345059871673584,
                    "y": -7.38514518737793,
                    "z": 0.06323236227035522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.981052398681641,
                "transform": {
                    "location": {
                        "x": 212.0313262939453,
                        "y": 5646.90966796875,
                        "z": 364.9259033203125
                    },
                    "rotation": {
                        "roll": 0.11786817014217377,
                        "pitch": 0.7194169759750366,
                        "yaw": -76.79682922363281
                    }
                },
                "velocity": {
                    "x": 1.5565212965011597,
                    "y": -6.805091381072998,
                    "z": 0.05534915626049042
                },
                "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": 0.0035737338475883007,
        "expert_target_speed": 7.611382787278532,
        "target_point": [
            8.467801396583654,
            -0.24213568862001233
        ],
        "target_point_next": [
            29.13215243551122,
            -2.2705455498246137
        ]
    },
    "185": {
        "acceleration": [
            -0.11759400367736816,
            -0.9978199005126953,
            -0.0010217726230621338
        ],
        "angular_velocity": [
            -0.1802736222743988,
            -0.0007694934611208737,
            -1.851908802986145
        ],
        "forward_vector": [
            0.13650745153427124,
            -0.9906070232391357,
            0.007961069233715534
        ],
        "right_vector": [
            0.9906389117240906,
            0.1364993005990982,
            -0.0015613947762176394
        ],
        "location": [
            216.46990966796875,
            5621.28759765625,
            365.12249755859375
        ],
        "rotation": [
            0.0894642025232315,
            0.4561404883861542,
            -82.1539535522461
        ],
        "velocity": [
            0.9253838062286377,
            -6.963134765625,
            0.049188803881406784
        ],
        "speed": 7.024356266099103,
        "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": 53.380374908447266,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                250.29795837402344,
                5579.99755859375,
                365.63275146484375
            ],
            "velocity": [
                -7.988655090332031,
                -0.01703651063144207,
                -0.08998210728168488
            ],
            "speed_kmh": 28.761048023029122,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.6298370361328,
                        "y": 5514.50927734375,
                        "z": 365.9609375
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.455268383026123,
                "transform": {
                    "location": {
                        "x": 173.05023193359375,
                        "y": 5583.55615234375,
                        "z": 365.6775207519531
                    },
                    "rotation": {
                        "roll": -0.006439208984375,
                        "pitch": -0.7813736200332642,
                        "yaw": 0.3460085093975067
                    }
                },
                "velocity": {
                    "x": 5.454684257507324,
                    "y": 0.025897720828652382,
                    "z": -0.07549349963665009
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.878829002380371,
                "transform": {
                    "location": {
                        "x": 174.65164184570312,
                        "y": 5586.81494140625,
                        "z": 365.6598815917969
                    },
                    "rotation": {
                        "roll": -0.0030517578125,
                        "pitch": -0.5632310509681702,
                        "yaw": 0.2938816547393799
                    }
                },
                "velocity": {
                    "x": 7.877992153167725,
                    "y": 0.037252314388751984,
                    "z": -0.10862522572278976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.513766765594482,
                "transform": {
                    "location": {
                        "x": 250.67898559570312,
                        "y": 5576.7578125,
                        "z": 365.63885498046875
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.41607460379600525,
                        "yaw": -179.75172424316406
                    }
                },
                "velocity": {
                    "x": -6.513355731964111,
                    "y": -0.02275856025516987,
                    "z": -0.06955234706401825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.989180088043213,
                "transform": {
                    "location": {
                        "x": 250.29795837402344,
                        "y": 5579.99755859375,
                        "z": 365.63275146484375
                    },
                    "rotation": {
                        "roll": 0.003412796650081873,
                        "pitch": -0.5315526127815247,
                        "yaw": -179.8600311279297
                    }
                },
                "velocity": {
                    "x": -7.988655090332031,
                    "y": -0.01703651063144207,
                    "z": -0.08998210728168488
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.853867053985596,
                "transform": {
                    "location": {
                        "x": 214.55133056640625,
                        "y": 5553.50537109375,
                        "z": 365.62982177734375
                    },
                    "rotation": {
                        "roll": -0.0005798386409878731,
                        "pitch": -0.26760679483413696,
                        "yaw": 88.27983093261719
                    }
                },
                "velocity": {
                    "x": 0.1755872666835785,
                    "y": 5.851137161254883,
                    "z": -0.0334906280040741
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039668083190918,
                "transform": {
                    "location": {
                        "x": 206.28350830078125,
                        "y": 5657.3896484375,
                        "z": 364.836669921875
                    },
                    "rotation": {
                        "roll": -0.06738279014825821,
                        "pitch": -0.46041619777679443,
                        "yaw": 105.64270782470703
                    }
                },
                "velocity": {
                    "x": -2.1780459880828857,
                    "y": 7.738744735717773,
                    "z": -0.06497383862733841
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.553736209869385,
                "transform": {
                    "location": {
                        "x": 207.92007446289062,
                        "y": 5662.24755859375,
                        "z": 364.8063659667969
                    },
                    "rotation": {
                        "roll": 0.04033392667770386,
                        "pitch": 0.33694687485694885,
                        "yaw": -72.6984634399414
                    }
                },
                "velocity": {
                    "x": 1.9121264219284058,
                    "y": -6.268363952636719,
                    "z": 0.0533364936709404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.96635103225708,
                "transform": {
                    "location": {
                        "x": 212.394287109375,
                        "y": 5645.31298828125,
                        "z": 364.9401550292969
                    },
                    "rotation": {
                        "roll": 0.0727458968758583,
                        "pitch": 0.2879607677459717,
                        "yaw": -77.26908874511719
                    }
                },
                "velocity": {
                    "x": 1.3061730861663818,
                    "y": -5.821431636810303,
                    "z": 0.046787966042757034
                },
                "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": -0.01593443937599659,
        "expert_target_speed": 7.717160403032979,
        "target_point": [
            27.413230303709835,
            -2.039815525076971
        ],
        "target_point_next": [
            39.66591819204226,
            -13.326213710273468
        ]
    },
    "190": {
        "acceleration": [
            -0.16130805015563965,
            -0.3221702575683594,
            0.004036128520965576
        ],
        "angular_velocity": [
            0.01461118832230568,
            -0.009880661964416504,
            -1.8327633142471313
        ],
        "forward_vector": [
            0.12851864099502563,
            -0.9916717410087585,
            0.008372209034860134
        ],
        "right_vector": [
            0.991706907749176,
            0.12850961089134216,
            -0.0016089333221316338
        ],
        "location": [
            216.69834899902344,
            5619.525390625,
            365.13507080078125
        ],
        "rotation": [
            0.09218835830688477,
            0.4796978235244751,
            -82.6157455444336
        ],
        "velocity": [
            0.8896820545196533,
            -7.1181321144104,
            0.050470273941755295
        ],
        "speed": 7.173516498645207,
        "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": 50.681827545166016,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                248.41233825683594,
                5579.9951171875,
                365.6122131347656
            ],
            "velocity": [
                -7.205127239227295,
                -0.0034456192515790462,
                -0.07289032638072968
            ],
            "speed_kmh": 25.939788297793307,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 264.7257080078125,
                        "y": 5576.78857421875,
                        "z": 366.1763610839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9479414224624634,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 1.3182884783802251e-09,
                    "y": -3.1675669032171783e-12,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 264.7335205078125,
                        "y": 5580.03857421875,
                        "z": 366.1127014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9479414224624634,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 6.7657093261175305e-09,
                    "y": -1.6256560333993697e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.36936950683594,
                        "y": 5518.24560546875,
                        "z": 365.9267883300781
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.1624627113342285,
                "transform": {
                    "location": {
                        "x": 174.52952575683594,
                        "y": 5583.56298828125,
                        "z": 365.6568908691406
                    },
                    "rotation": {
                        "roll": -0.004394531715661287,
                        "pitch": -0.7753015756607056,
                        "yaw": 0.2693146765232086
                    }
                },
                "velocity": {
                    "x": 6.161810874938965,
                    "y": 0.027162782847881317,
                    "z": -0.08540664613246918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.325440406799316,
                "transform": {
                    "location": {
                        "x": 176.71788024902344,
                        "y": 5586.82373046875,
                        "z": 365.6311950683594
                    },
                    "rotation": {
                        "roll": 0.001897218287922442,
                        "pitch": -0.6898490786552429,
                        "yaw": 0.2344888597726822
                    }
                },
                "velocity": {
                    "x": 8.324585914611816,
                    "y": 0.025955958291888237,
                    "z": -0.11644356697797775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.673107624053955,
                "transform": {
                    "location": {
                        "x": 248.8573455810547,
                        "y": 5576.751953125,
                        "z": 365.6174621582031
                    },
                    "rotation": {
                        "roll": -0.0025939936749637127,
                        "pitch": -0.212275430560112,
                        "yaw": -179.74600219726562
                    }
                },
                "velocity": {
                    "x": -7.672652244567871,
                    "y": -0.018390517681837082,
                    "z": -0.08154885470867157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.205496788024902,
                "transform": {
                    "location": {
                        "x": 248.41233825683594,
                        "y": 5579.9951171875,
                        "z": 365.6122131347656
                    },
                    "rotation": {
                        "roll": 0.008143826387822628,
                        "pitch": -0.6896714568138123,
                        "yaw": -179.93077087402344
                    }
                },
                "velocity": {
                    "x": -7.205127239227295,
                    "y": -0.0034456192515790462,
                    "z": -0.07289032638072968
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.941205978393555,
                "transform": {
                    "location": {
                        "x": 214.5956268310547,
                        "y": 5554.978515625,
                        "z": 365.6211242675781
                    },
                    "rotation": {
                        "roll": -0.0006408676854334772,
                        "pitch": -0.4197697341442108,
                        "yaw": 88.2778091430664
                    }
                },
                "velocity": {
                    "x": 0.1786385476589203,
                    "y": 5.938362121582031,
                    "z": -0.043284330517053604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022740364074707,
                "transform": {
                    "location": {
                        "x": 205.72398376464844,
                        "y": 5659.3173828125,
                        "z": 364.8207092285156
                    },
                    "rotation": {
                        "roll": -0.1334228217601776,
                        "pitch": -0.46658384799957275,
                        "yaw": 106.29730987548828
                    }
                },
                "velocity": {
                    "x": -2.2945845127105713,
                    "y": 7.6873393058776855,
                    "z": -0.06368882954120636
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.674379825592041,
                "transform": {
                    "location": {
                        "x": 208.34405517578125,
                        "y": 5660.8330078125,
                        "z": 364.8181457519531
                    },
                    "rotation": {
                        "roll": 0.02646545134484768,
                        "pitch": 0.326524019241333,
                        "yaw": -73.18260192871094
                    }
                },
                "velocity": {
                    "x": 1.6161820888519287,
                    "y": -5.439165115356445,
                    "z": 0.045007381588220596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.378563404083252,
                "transform": {
                    "location": {
                        "x": 212.69764709472656,
                        "y": 5643.9609375,
                        "z": 364.95135498046875
                    },
                    "rotation": {
                        "roll": 0.034785911440849304,
                        "pitch": 0.16593261063098907,
                        "yaw": -77.31655883789062
                    }
                },
                "velocity": {
                    "x": 1.1759313344955444,
                    "y": -5.248282432556152,
                    "z": 0.04074971005320549
                },
                "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": -0.037913110107183456,
        "expert_target_speed": 7.816181743464434,
        "target_point": [
            25.65182810596488,
            -1.8188698940844135
        ],
        "target_point_next": [
            37.995081816769776,
            -13.006149827758906
        ]
    },
    "195": {
        "acceleration": [
            -0.32897233963012695,
            -0.28301239013671875,
            -0.01586340367794037
        ],
        "angular_velocity": [
            0.1147223711013794,
            0.10114751011133194,
            -2.5115907192230225
        ],
        "forward_vector": [
            0.11900937557220459,
            -0.9928611516952515,
            0.007971558719873428
        ],
        "right_vector": [
            0.9928926825523376,
            0.11899761855602264,
            -0.0019341284641996026
        ],
        "location": [
            216.9138946533203,
            5617.734375,
            365.14801025390625
        ],
        "rotation": [
            0.11082098633050919,
            0.4567415416240692,
            -83.16484832763672
        ],
        "velocity": [
            0.8164633512496948,
            -7.18331241607666,
            0.051927804946899414
        ],
        "speed": 7.229563587858882,
        "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": 48.03777313232422,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                246.63218688964844,
                5579.9951171875,
                365.594482421875
            ],
            "velocity": [
                -7.148178577423096,
                0.002383813261985779,
                -0.0669306293129921
            ],
            "speed_kmh": 25.734572331185447,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.44179391860961914,
                "transform": {
                    "location": {
                        "x": 264.7271728515625,
                        "y": 5576.78857421875,
                        "z": 365.7825622558594
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": -0.9266244173049927,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.007162707392126322,
                    "y": -0.00021101869060657918,
                    "z": -0.44173580408096313
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.007551202084869146,
                "transform": {
                    "location": {
                        "x": 264.7352294921875,
                        "y": 5580.03857421875,
                        "z": 365.8247985839844
                    },
                    "rotation": {
                        "roll": 0.000523491995409131,
                        "pitch": -0.935947597026825,
                        "yaw": 179.8622283935547
                    }
                },
                "velocity": {
                    "x": -0.00011508151510497555,
                    "y": -0.00010957677295664325,
                    "z": 0.007549529895186424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.18702697753906,
                        "y": 5521.857421875,
                        "z": 365.89471435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.3855977058410645,
                "transform": {
                    "location": {
                        "x": 176.2305450439453,
                        "y": 5583.5712890625,
                        "z": 365.6332702636719
                    },
                    "rotation": {
                        "roll": -0.005493164528161287,
                        "pitch": -0.7675766348838806,
                        "yaw": 0.2500748336315155
                    }
                },
                "velocity": {
                    "x": 7.384827613830566,
                    "y": 0.032257381826639175,
                    "z": -0.10164997726678848
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.892719745635986,
                "transform": {
                    "location": {
                        "x": 178.73545837402344,
                        "y": 5586.8271484375,
                        "z": 365.6031188964844
                    },
                    "rotation": {
                        "roll": 0.0041346014477312565,
                        "pitch": -0.8224776983261108,
                        "yaw": 0.0855756402015686
                    }
                },
                "velocity": {
                    "x": 7.891939640045166,
                    "y": 0.00850606057792902,
                    "z": -0.11065926402807236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.875554084777832,
                "transform": {
                    "location": {
                        "x": 246.85421752929688,
                        "y": 5576.748046875,
                        "z": 365.599365234375
                    },
                    "rotation": {
                        "roll": 0.0070648472756147385,
                        "pitch": -0.4986242651939392,
                        "yaw": -179.864013671875
                    }
                },
                "velocity": {
                    "x": -7.875185489654541,
                    "y": -0.006165132392197847,
                    "z": -0.0759371817111969
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.148492336273193,
                "transform": {
                    "location": {
                        "x": 246.63218688964844,
                        "y": 5579.9951171875,
                        "z": 365.594482421875
                    },
                    "rotation": {
                        "roll": 0.004204282071441412,
                        "pitch": -0.6152019500732422,
                        "yaw": -179.99757385253906
                    }
                },
                "velocity": {
                    "x": -7.148178577423096,
                    "y": 0.002383813261985779,
                    "z": -0.0669306293129921
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.862216472625732,
                "transform": {
                    "location": {
                        "x": 214.6405487060547,
                        "y": 5556.453125,
                        "z": 365.6098327636719
                    },
                    "rotation": {
                        "roll": -0.0009155666339211166,
                        "pitch": -0.44689926505088806,
                        "yaw": 88.278076171875
                    }
                },
                "velocity": {
                    "x": 0.17616693675518036,
                    "y": 5.85939359664917,
                    "z": -0.045321278274059296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04141902923584,
                "transform": {
                    "location": {
                        "x": 205.1464080810547,
                        "y": 5661.24072265625,
                        "z": 364.804443359375
                    },
                    "rotation": {
                        "roll": -0.08517453074455261,
                        "pitch": -0.47122156620025635,
                        "yaw": 106.76329803466797
                    }
                },
                "velocity": {
                    "x": -2.3345134258270264,
                    "y": 7.694818496704102,
                    "z": -0.06508369743824005
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.820488929748535,
                "transform": {
                    "location": {
                        "x": 208.75257873535156,
                        "y": 5659.447265625,
                        "z": 364.8297424316406
                    },
                    "rotation": {
                        "roll": 0.013970437459647655,
                        "pitch": 0.4372618496417999,
                        "yaw": -73.5129623413086
                    }
                },
                "velocity": {
                    "x": 1.6390756368637085,
                    "y": -5.584756374359131,
                    "z": 0.04490112140774727
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.111398696899414,
                "transform": {
                    "location": {
                        "x": 212.98765563964844,
                        "y": 5642.6123046875,
                        "z": 364.9609375
                    },
                    "rotation": {
                        "roll": 0.08914852142333984,
                        "pitch": 0.46106505393981934,
                        "yaw": -77.86595916748047
                    }
                },
                "velocity": {
                    "x": 1.238325595855713,
                    "y": -5.984447479248047,
                    "z": 0.046179790049791336
                },
                "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": -0.05059177055954933,
        "expert_target_speed": 7.835723262488144,
        "target_point": [
            23.864141807384083,
            -1.573816510643328
        ],
        "target_point_next": [
            36.31403939869283,
            -12.642294023364725
        ]
    },
    "200": {
        "acceleration": [
            -0.3303968906402588,
            0.5107688903808594,
            -0.005916953086853027
        ],
        "angular_velocity": [
            0.18359939754009247,
            0.0056407819502055645,
            -2.4633848667144775
        ],
        "forward_vector": [
            0.10819843411445618,
            -0.9941027760505676,
            0.007264907471835613
        ],
        "right_vector": [
            0.9941285252571106,
            0.10818622261285782,
            -0.0020549073815345764
        ],
        "location": [
            217.109375,
            5615.9453125,
            365.1609191894531
        ],
        "rotation": [
            0.11774071305990219,
            0.4162521958351135,
            -83.78836059570312
        ],
        "velocity": [
            0.7332997918128967,
            -7.129862308502197,
            0.05243802070617676
        ],
        "speed": 7.1674727151816295,
        "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": 45.41252136230469,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                244.8535919189453,
                5579.99560546875,
                365.5781555175781
            ],
            "velocity": [
                -6.973179340362549,
                0.0038738029543310404,
                -0.06353168189525604
            ],
            "speed_kmh": 25.104491368355074,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.13232146203517914,
                "transform": {
                    "location": {
                        "x": 264.7273254394531,
                        "y": 5576.78857421875,
                        "z": 365.7985534667969
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.9308181405067444,
                        "yaw": 179.8623046875
                    }
                },
                "velocity": {
                    "x": -0.0021995531860738993,
                    "y": -3.7823909224243835e-05,
                    "z": 0.1323031783103943
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.24493055045604706,
                "transform": {
                    "location": {
                        "x": 264.7312316894531,
                        "y": 5580.03857421875,
                        "z": 365.8525695800781
                    },
                    "rotation": {
                        "roll": 0.00013803546607960016,
                        "pitch": -0.9264809489250183,
                        "yaw": 179.8644561767578
                    }
                },
                "velocity": {
                    "x": -0.23089976608753204,
                    "y": -0.0029018321074545383,
                    "z": 0.08165693283081055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.07061767578125,
                        "y": 5525.28857421875,
                        "z": 365.8645935058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.164159774780273,
                "transform": {
                    "location": {
                        "x": 178.18577575683594,
                        "y": 5583.576171875,
                        "z": 365.6062927246094
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.7719411253929138,
                        "yaw": 0.1369515210390091
                    }
                },
                "velocity": {
                    "x": 8.163368225097656,
                    "y": 0.010540960356593132,
                    "z": -0.113226518034935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079910278320312,
                "transform": {
                    "location": {
                        "x": 180.72764587402344,
                        "y": 5586.82861328125,
                        "z": 365.57666015625
                    },
                    "rotation": {
                        "roll": 0.0026880381628870964,
                        "pitch": -0.7287333607673645,
                        "yaw": 0.027794085443019867
                    }
                },
                "velocity": {
                    "x": 8.079240798950195,
                    "y": 0.0029211959335952997,
                    "z": -0.10395976901054382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.5697526931762695,
                "transform": {
                    "location": {
                        "x": 245.3379669189453,
                        "y": 5576.74658203125,
                        "z": 365.59088134765625
                    },
                    "rotation": {
                        "roll": 4.087977868039161e-05,
                        "pitch": -1.1204173564910889,
                        "yaw": -179.9344482421875
                    }
                },
                "velocity": {
                    "x": -5.569547653198242,
                    "y": 0.0002848338335752487,
                    "z": -0.047756124287843704
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.9734697341918945,
                "transform": {
                    "location": {
                        "x": 244.8535919189453,
                        "y": 5579.99560546875,
                        "z": 365.5781555175781
                    },
                    "rotation": {
                        "roll": 0.0013437437592074275,
                        "pitch": -0.542965829372406,
                        "yaw": 179.976806640625
                    }
                },
                "velocity": {
                    "x": -6.973179340362549,
                    "y": 0.0038738029543310404,
                    "z": -0.06353168189525604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.723247051239014,
                "transform": {
                    "location": {
                        "x": 214.68499755859375,
                        "y": 5557.91943359375,
                        "z": 365.5982360839844
                    },
                    "rotation": {
                        "roll": -0.0014647837961092591,
                        "pitch": -0.4331022799015045,
                        "yaw": 88.27782440185547
                    }
                },
                "velocity": {
                    "x": 0.1720319539308548,
                    "y": 5.720486164093018,
                    "z": -0.044722747057676315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02138614654541,
                "transform": {
                    "location": {
                        "x": 204.55686950683594,
                        "y": 5663.15966796875,
                        "z": 364.78802490234375
                    },
                    "rotation": {
                        "roll": -0.1293945014476776,
                        "pitch": -0.4789738059043884,
                        "yaw": 107.16941833496094
                    }
                },
                "velocity": {
                    "x": -2.4253532886505127,
                    "y": 7.645660877227783,
                    "z": -0.0645173117518425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.185272216796875,
                "transform": {
                    "location": {
                        "x": 209.26031494140625,
                        "y": 5657.70068359375,
                        "z": 364.8443603515625
                    },
                    "rotation": {
                        "roll": 0.04238259047269821,
                        "pitch": 0.7055448293685913,
                        "yaw": -73.81590270996094
                    }
                },
                "velocity": {
                    "x": 2.2250821590423584,
                    "y": -7.876772880554199,
                    "z": 0.06439128518104553
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6717729568481445,
                "transform": {
                    "location": {
                        "x": 213.35006713867188,
                        "y": 5640.85498046875,
                        "z": 364.9728698730469
                    },
                    "rotation": {
                        "roll": 0.06465114653110504,
                        "pitch": 0.9574900269508362,
                        "yaw": -78.2894515991211
                    }
                },
                "velocity": {
                    "x": 1.5339373350143433,
                    "y": -7.516629695892334,
                    "z": 0.05847383290529251
                },
                "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": -0.05738573148846626,
        "expert_target_speed": 7.756427464368887,
        "target_point": [
            22.080144952343083,
            -1.3147857967769374
        ],
        "target_point_next": [
            34.649752862715545,
            -12.247127790293085
        ]
    },
    "205": {
        "acceleration": [
            -0.34590840339660645,
            -0.07703781127929688,
            -0.01879975199699402
        ],
        "angular_velocity": [
            0.008047309704124928,
            0.07233606278896332,
            -2.514939308166504
        ],
        "forward_vector": [
            0.09738734364509583,
            -0.9952227473258972,
            0.0068877385929226875
        ],
        "right_vector": [
            0.9952455759048462,
            0.0973752811551094,
            -0.002065780572593212
        ],
        "location": [
            217.2840576171875,
            5614.16796875,
            365.1737365722656
        ],
        "rotation": [
            0.1183633953332901,
            0.3946414887905121,
            -84.41112518310547
        ],
        "velocity": [
            0.6491703391075134,
            -7.091650009155273,
            0.049537476152181625
        ],
        "speed": 7.121300582163974,
        "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": 42.86935806274414,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                243.16867065429688,
                5579.99755859375,
                365.563232421875
            ],
            "velocity": [
                -6.563840866088867,
                0.008602665737271309,
                -0.052990689873695374
            ],
            "speed_kmh": 23.630617439879664,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2876173257827759,
                "transform": {
                    "location": {
                        "x": 264.5089111328125,
                        "y": 5576.7861328125,
                        "z": 365.8128356933594
                    },
                    "rotation": {
                        "roll": -0.007080077659338713,
                        "pitch": -0.8681579828262329,
                        "yaw": 179.9918670654297
                    }
                },
                "velocity": {
                    "x": -1.2874295711517334,
                    "y": -0.020410221070051193,
                    "z": 0.00817825272679329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5576324462890625,
                "transform": {
                    "location": {
                        "x": 264.46905517578125,
                        "y": 5580.03564453125,
                        "z": 365.85797119140625
                    },
                    "rotation": {
                        "roll": -0.007110594306141138,
                        "pitch": -0.8240281343460083,
                        "yaw": -179.984375
                    }
                },
                "velocity": {
                    "x": -1.5573948621749878,
                    "y": -0.02527281455695629,
                    "z": -0.010060558095574379
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.99124145507812,
                        "y": 5528.5478515625,
                        "z": 365.8362731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.251182556152344,
                "transform": {
                    "location": {
                        "x": 180.2528839111328,
                        "y": 5583.57861328125,
                        "z": 365.57843017578125
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.7583011984825134,
                        "yaw": 0.04151346907019615
                    }
                },
                "velocity": {
                    "x": 8.25053596496582,
                    "y": 0.003097937675192952,
                    "z": -0.1032571867108345
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.743889331817627,
                "transform": {
                    "location": {
                        "x": 182.7184295654297,
                        "y": 5586.828125,
                        "z": 365.55133056640625
                    },
                    "rotation": {
                        "roll": 0.004073455464094877,
                        "pitch": -0.7207624912261963,
                        "yaw": -0.02920532040297985
                    }
                },
                "velocity": {
                    "x": 7.743326663970947,
                    "y": -0.006014965008944273,
                    "z": -0.09316057711839676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.478247165679932,
                "transform": {
                    "location": {
                        "x": 243.83226013183594,
                        "y": 5576.74755859375,
                        "z": 365.5716247558594
                    },
                    "rotation": {
                        "roll": 0.004582967143505812,
                        "pitch": -0.3663303554058075,
                        "yaw": -179.9893341064453
                    }
                },
                "velocity": {
                    "x": -6.477993011474609,
                    "y": 0.008101183921098709,
                    "z": -0.05679655075073242
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.564060211181641,
                "transform": {
                    "location": {
                        "x": 243.16867065429688,
                        "y": 5579.99755859375,
                        "z": 365.563232421875
                    },
                    "rotation": {
                        "roll": 0.0018666592659428716,
                        "pitch": -0.5447075366973877,
                        "yaw": 179.94529724121094
                    }
                },
                "velocity": {
                    "x": -6.563840866088867,
                    "y": 0.008602665737271309,
                    "z": -0.052990689873695374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.638460636138916,
                "transform": {
                    "location": {
                        "x": 214.72671508789062,
                        "y": 5559.31298828125,
                        "z": 365.5873107910156
                    },
                    "rotation": {
                        "roll": -0.0013122489908710122,
                        "pitch": -0.4417082965373993,
                        "yaw": 88.28975677490234
                    }
                },
                "velocity": {
                    "x": 0.1697271466255188,
                    "y": 5.635722637176514,
                    "z": -0.045398496091365814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.041667938232422,
                "transform": {
                    "location": {
                        "x": 203.9442138671875,
                        "y": 5665.07177734375,
                        "z": 364.771484375
                    },
                    "rotation": {
                        "roll": -0.1076660305261612,
                        "pitch": -0.4853532016277313,
                        "yaw": 107.8244400024414
                    }
                },
                "velocity": {
                    "x": -2.484694004058838,
                    "y": 7.647888660430908,
                    "z": -0.06719491630792618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4393792152404785,
                "transform": {
                    "location": {
                        "x": 209.78781127929688,
                        "y": 5655.794921875,
                        "z": 364.8594055175781
                    },
                    "rotation": {
                        "roll": 0.03655272722244263,
                        "pitch": 0.4283621311187744,
                        "yaw": -74.61150360107422
                    }
                },
                "velocity": {
                    "x": 1.9618595838546753,
                    "y": -7.175790309906006,
                    "z": 0.059209782630205154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.073227882385254,
                "transform": {
                    "location": {
                        "x": 213.7203826904297,
                        "y": 5639.03857421875,
                        "z": 364.9887390136719
                    },
                    "rotation": {
                        "roll": 0.037136729806661606,
                        "pitch": 0.5095047354698181,
                        "yaw": -78.50265502929688
                    }
                },
                "velocity": {
                    "x": 1.40431809425354,
                    "y": -6.93220853805542,
                    "z": 0.054123762995004654
                },
                "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": -0.05659179762005806,
        "expert_target_speed": 10.0,
        "target_point": [
            20.307224913116865,
            -1.0754575526836232
        ],
        "target_point_next": [
            32.994923363728184,
            -11.870523671520038
        ]
    },
    "210": {
        "acceleration": [
            -0.3358638286590576,
            1.0068035125732422,
            0.003981441259384155
        ],
        "angular_velocity": [
            0.1979466676712036,
            -0.036565180867910385,
            -2.33729887008667
        ],
        "forward_vector": [
            0.08680754154920578,
            -0.9962038397789001,
            0.006508185062557459
        ],
        "right_vector": [
            0.996224045753479,
            0.08679620176553726,
            -0.0020056364592164755
        ],
        "location": [
            217.43765258789062,
            5612.40966796875,
            365.1861572265625
        ],
        "rotation": [
            0.11491701751947403,
            0.37289416790008545,
            -85.0199203491211
        ],
        "velocity": [
            0.5658687353134155,
            -6.96620512008667,
            0.04925305396318436
        ],
        "speed": 6.989150248830464,
        "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": 40.393150329589844,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                241.54209899902344,
                5579.9990234375,
                365.5502014160156
            ],
            "velocity": [
                -6.468903064727783,
                0.008668214082717896,
                -0.04809470847249031
            ],
            "speed_kmh": 23.288715561252573,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 168.49905395507812,
                        "y": 5586.7705078125,
                        "z": 366.0920104980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -6.555145870557055e-10,
                    "y": 1.5750104128894882e-12,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.124969482421875,
                "transform": {
                    "location": {
                        "x": 264.11273193359375,
                        "y": 5576.78369140625,
                        "z": 365.8094177246094
                    },
                    "rotation": {
                        "roll": -0.004211424849927425,
                        "pitch": -0.8763473629951477,
                        "yaw": -179.92861938476562
                    }
                },
                "velocity": {
                    "x": -2.124685525894165,
                    "y": -0.013740536756813526,
                    "z": -0.03191715478897095
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.579132080078125,
                "transform": {
                    "location": {
                        "x": 263.9540710449219,
                        "y": 5580.033203125,
                        "z": 365.851318359375
                    },
                    "rotation": {
                        "roll": -0.00469970703125,
                        "pitch": -0.8252507448196411,
                        "yaw": -179.8898162841797
                    }
                },
                "velocity": {
                    "x": -2.5787594318389893,
                    "y": -0.018469780683517456,
                    "z": -0.03976043686270714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.98655700683594,
                        "y": 5531.3955078125,
                        "z": 365.81195068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.48891857266426086,
                        "yaw": 89.43575286865234
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.907257080078125,
                "transform": {
                    "location": {
                        "x": 182.2732696533203,
                        "y": 5583.5791015625,
                        "z": 365.5525817871094
                    },
                    "rotation": {
                        "roll": 0.00033398877712897956,
                        "pitch": -0.6891182661056519,
                        "yaw": -0.012908935546875
                    }
                },
                "velocity": {
                    "x": 7.906651973724365,
                    "y": -0.005528115667402744,
                    "z": -0.09767591208219528
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.367105484008789,
                "transform": {
                    "location": {
                        "x": 184.5965576171875,
                        "y": 5586.826171875,
                        "z": 365.52984619140625
                    },
                    "rotation": {
                        "roll": 0.0020621432922780514,
                        "pitch": -0.7004973292350769,
                        "yaw": -0.06304931640625
                    }
                },
                "velocity": {
                    "x": 7.366705894470215,
                    "y": -0.008993550203740597,
                    "z": -0.07621126621961594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.499109745025635,
                "transform": {
                    "location": {
                        "x": 242.138427734375,
                        "y": 5576.74609375,
                        "z": 365.55694580078125
                    },
                    "rotation": {
                        "roll": 0.01071232184767723,
                        "pitch": -0.28964099287986755,
                        "yaw": 179.65301513671875
                    }
                },
                "velocity": {
                    "x": -6.4988884925842285,
                    "y": 0.012812990695238113,
                    "z": -0.05209770053625107
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.469087600708008,
                "transform": {
                    "location": {
                        "x": 241.54209899902344,
                        "y": 5579.9990234375,
                        "z": 365.5502014160156
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.501984715461731,
                        "yaw": 179.92506408691406
                    }
                },
                "velocity": {
                    "x": -6.468903064727783,
                    "y": 0.008668214082717896,
                    "z": -0.04809470847249031
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.080842971801758,
                "transform": {
                    "location": {
                        "x": 214.771240234375,
                        "y": 5560.8134765625,
                        "z": 365.5758056640625
                    },
                    "rotation": {
                        "roll": 3.767407906707376e-05,
                        "pitch": -0.47958171367645264,
                        "yaw": 88.25830841064453
                    }
                },
                "velocity": {
                    "x": 0.18116408586502075,
                    "y": 6.077958106994629,
                    "z": -0.047538042068481445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02390193939209,
                "transform": {
                    "location": {
                        "x": 203.32264709472656,
                        "y": 5666.98095703125,
                        "z": 364.754638671875
                    },
                    "rotation": {
                        "roll": -0.05667112395167351,
                        "pitch": -0.4919990003108978,
                        "yaw": 108.06449127197266
                    }
                },
                "velocity": {
                    "x": -2.495847463607788,
                    "y": 7.625551700592041,
                    "z": -0.06856811046600342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.975780010223389,
                "transform": {
                    "location": {
                        "x": 210.234130859375,
                        "y": 5654.1474609375,
                        "z": 364.8724060058594
                    },
                    "rotation": {
                        "roll": 0.02037164941430092,
                        "pitch": 0.26170551776885986,
                        "yaw": -74.90287017822266
                    }
                },
                "velocity": {
                    "x": 1.5511611700057983,
                    "y": -5.770763874053955,
                    "z": 0.04615434631705284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.683769702911377,
                "transform": {
                    "location": {
                        "x": 214.0428924560547,
                        "y": 5637.375,
                        "z": 365.0023498535156
                    },
                    "rotation": {
                        "roll": 0.10606694966554642,
                        "pitch": 0.32303377985954285,
                        "yaw": -79.03263092041016
                    }
                },
                "velocity": {
                    "x": 1.2225892543792725,
                    "y": -6.57078742980957,
                    "z": 0.05295279249548912
                },
                "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": -0.05380721762776375,
        "expert_target_speed": 10.0,
        "target_point": [
            18.55250884471516,
            -0.8600095325386585
        ],
        "target_point_next": [
            31.354189311566945,
            -11.51965876261749
        ]
    },
    "215": {
        "acceleration": [
            -0.3953033685684204,
            1.116037368774414,
            -0.0006799399852752686
        ],
        "angular_velocity": [
            0.1913885623216629,
            0.048495929688215256,
            -2.338127851486206
        ],
        "forward_vector": [
            0.07664784789085388,
            -0.997043251991272,
            0.005472512915730476
        ],
        "right_vector": [
            0.9970570802688599,
            0.07663844525814056,
            -0.0019072829745709896
        ],
        "location": [
            217.5691375732422,
            5610.70361328125,
            365.1982727050781
        ],
        "rotation": [
            0.10928096622228622,
            0.31355348229408264,
            -85.6040267944336
        ],
        "velocity": [
            0.4706615209579468,
            -6.6689910888671875,
            0.04809882119297981
        ],
        "speed": 6.685578838866564,
        "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": 37.99709701538086,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                239.95242309570312,
                5580.0009765625,
                365.5387878417969
            ],
            "velocity": [
                -6.217689514160156,
                0.00998604204505682,
                -0.044728849083185196
            ],
            "speed_kmh": 22.384290298772765,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 168.49124145507812,
                        "y": 5583.5205078125,
                        "z": 366.13128662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3975800573825836,
                "transform": {
                    "location": {
                        "x": 168.4977264404297,
                        "y": 5586.7705078125,
                        "z": 365.7088623046875
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": -0.8044118285179138,
                        "yaw": -0.1375732421875
                    }
                },
                "velocity": {
                    "x": -0.005434753838926554,
                    "y": -1.6398513253079727e-05,
                    "z": -0.39754289388656616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3973779678344727,
                "transform": {
                    "location": {
                        "x": 263.4049072265625,
                        "y": 5576.7802734375,
                        "z": 365.79815673828125
                    },
                    "rotation": {
                        "roll": -0.008483885787427425,
                        "pitch": -0.84649258852005,
                        "yaw": -179.72979736328125
                    }
                },
                "velocity": {
                    "x": -3.3968515396118164,
                    "y": -0.022942019626498222,
                    "z": -0.05522337928414345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9635627269744873,
                "transform": {
                    "location": {
                        "x": 263.1346740722656,
                        "y": 5580.02783203125,
                        "z": 365.8380126953125
                    },
                    "rotation": {
                        "roll": -0.008392333053052425,
                        "pitch": -0.7932717800140381,
                        "yaw": -179.77944946289062
                    }
                },
                "velocity": {
                    "x": -3.96293306350708,
                    "y": -0.028988106176257133,
                    "z": -0.06443119049072266
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.01390075683594,
                        "y": 5534.3466796875,
                        "z": 365.7868957519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.638185501098633,
                "transform": {
                    "location": {
                        "x": 184.21429443359375,
                        "y": 5583.5771484375,
                        "z": 365.5296936035156
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.6781352758407593,
                        "yaw": -0.0599365159869194
                    }
                },
                "velocity": {
                    "x": 7.637763023376465,
                    "y": -0.010190172120928764,
                    "z": -0.07971519231796265
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.219283103942871,
                "transform": {
                    "location": {
                        "x": 186.4217987060547,
                        "y": 5586.82373046875,
                        "z": 365.5114440917969
                    },
                    "rotation": {
                        "roll": 0.001814858173020184,
                        "pitch": -0.5319828987121582,
                        "yaw": -0.08160400390625
                    }
                },
                "velocity": {
                    "x": 7.218875408172607,
                    "y": -0.011608771979808807,
                    "z": -0.07582446932792664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.347438335418701,
                "transform": {
                    "location": {
                        "x": 240.5204620361328,
                        "y": 5576.7490234375,
                        "z": 365.5469055175781
                    },
                    "rotation": {
                        "roll": 0.01880166120827198,
                        "pitch": -0.5007621049880981,
                        "yaw": 179.33351135253906
                    }
                },
                "velocity": {
                    "x": -6.3472418785095215,
                    "y": 0.025540342554450035,
                    "z": -0.04291578382253647
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.21785831451416,
                "transform": {
                    "location": {
                        "x": 239.95242309570312,
                        "y": 5580.0009765625,
                        "z": 365.5387878417969
                    },
                    "rotation": {
                        "roll": 0.0015360440593212843,
                        "pitch": -0.45349037647247314,
                        "yaw": 179.91433715820312
                    }
                },
                "velocity": {
                    "x": -6.217689514160156,
                    "y": 0.00998604204505682,
                    "z": -0.044728849083185196
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3400139808654785,
                "transform": {
                    "location": {
                        "x": 214.8142852783203,
                        "y": 5562.24169921875,
                        "z": 365.5639343261719
                    },
                    "rotation": {
                        "roll": -0.0017089624889194965,
                        "pitch": -0.39813169836997986,
                        "yaw": 88.2681655883789
                    }
                },
                "velocity": {
                    "x": 0.16019275784492493,
                    "y": 5.337439060211182,
                    "z": -0.04277489706873894
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03846549987793,
                "transform": {
                    "location": {
                        "x": 202.6824951171875,
                        "y": 5668.8837890625,
                        "z": 364.73748779296875
                    },
                    "rotation": {
                        "roll": -0.1307983100414276,
                        "pitch": -0.495420902967453,
                        "yaw": 108.70162963867188
                    }
                },
                "velocity": {
                    "x": -2.622631072998047,
                    "y": 7.598291873931885,
                    "z": -0.06849388778209686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.189765453338623,
                "transform": {
                    "location": {
                        "x": 210.58248901367188,
                        "y": 5652.8330078125,
                        "z": 364.8829345703125
                    },
                    "rotation": {
                        "roll": 0.03049539588391781,
                        "pitch": 0.2989095449447632,
                        "yaw": -75.15292358398438
                    }
                },
                "velocity": {
                    "x": 1.2941830158233643,
                    "y": -5.025641441345215,
                    "z": 0.04100456088781357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.232557773590088,
                "transform": {
                    "location": {
                        "x": 214.359130859375,
                        "y": 5635.66357421875,
                        "z": 365.0148620605469
                    },
                    "rotation": {
                        "roll": 0.0726902112364769,
                        "pitch": 0.5391272902488708,
                        "yaw": -79.53057861328125
                    }
                },
                "velocity": {
                    "x": 1.2925641536712646,
                    "y": -7.115914344787598,
                    "z": 0.05416996777057648
                },
                "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": -0.04818166792392731,
        "expert_target_speed": 10.0,
        "target_point": [
            16.849198261354882,
            -0.671161360491189
        ],
        "target_point_next": [
            29.758883881254746,
            -11.199749189779856
        ]
    },
    "220": {
        "acceleration": [
            -0.31805694103240967,
            2.0873641967773438,
            -0.02244912087917328
        ],
        "angular_velocity": [
            0.25776898860931396,
            -0.01640334166586399,
            -2.059218406677246
        ],
        "forward_vector": [
            0.06702234596014023,
            -0.9977412819862366,
            0.004503592383116484
        ],
        "right_vector": [
            0.9977505207061768,
            0.06701527535915375,
            -0.0017035302007570863
        ],
        "location": [
            217.67686462402344,
            5609.091796875,
            365.2099609375
        ],
        "rotation": [
            0.0976061224937439,
            0.2580377161502838,
            -86.156982421875
        ],
        "velocity": [
            0.3810223937034607,
            -6.2444939613342285,
            0.04370080679655075
        ],
        "speed": 6.256107647542772,
        "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": 35.73711395263672,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                238.43515014648438,
                5580.00341796875,
                365.5279541015625
            ],
            "velocity": [
                -5.958732604980469,
                0.01120230183005333,
                -0.039337366819381714
            ],
            "speed_kmh": 21.451942723734106,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.33217191696167,
                "transform": {
                    "location": {
                        "x": 168.489990234375,
                        "y": 5583.5205078125,
                        "z": 365.73876953125
                    },
                    "rotation": {
                        "roll": -3.051760722883046e-05,
                        "pitch": -0.7919877171516418,
                        "yaw": -0.1376952975988388
                    }
                },
                "velocity": {
                    "x": -0.018569065257906914,
                    "y": -9.682220115792006e-05,
                    "z": -1.3320424556732178
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.12664343416690826,
                "transform": {
                    "location": {
                        "x": 168.49765014648438,
                        "y": 5586.7705078125,
                        "z": 365.72576904296875
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.8045006394386292,
                        "yaw": -0.1377563625574112
                    }
                },
                "velocity": {
                    "x": 0.003926124423742294,
                    "y": -0.0004266721662133932,
                    "z": 0.1265818476676941
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.891048431396484,
                "transform": {
                    "location": {
                        "x": 262.3713073730469,
                        "y": 5576.7763671875,
                        "z": 365.7814025878906
                    },
                    "rotation": {
                        "roll": -0.01296996884047985,
                        "pitch": -0.8348061442375183,
                        "yaw": -179.419677734375
                    }
                },
                "velocity": {
                    "x": -4.890328407287598,
                    "y": -0.03703843429684639,
                    "z": -0.07531623542308807
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.274227142333984,
                "transform": {
                    "location": {
                        "x": 261.9719543457031,
                        "y": 5580.0205078125,
                        "z": 365.8200378417969
                    },
                    "rotation": {
                        "roll": -0.008483885787427425,
                        "pitch": -0.760773777961731,
                        "yaw": -179.6815948486328
                    }
                },
                "velocity": {
                    "x": -5.2735395431518555,
                    "y": -0.039415739476680756,
                    "z": -0.07547848671674728
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.07046508789062,
                        "y": 5537.1484375,
                        "z": 365.7633361816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4802852272987366,
                        "yaw": 88.2802734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.325451374053955,
                "transform": {
                    "location": {
                        "x": 186.0832061767578,
                        "y": 5583.57470703125,
                        "z": 365.5106506347656
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.5340592861175537,
                        "yaw": -0.0805358812212944
                    }
                },
                "velocity": {
                    "x": 7.325127601623535,
                    "y": -0.01052430272102356,
                    "z": -0.06807571649551392
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.939563751220703,
                "transform": {
                    "location": {
                        "x": 188.19195556640625,
                        "y": 5586.8203125,
                        "z": 365.4958801269531
                    },
                    "rotation": {
                        "roll": 0.0004904058296233416,
                        "pitch": -0.5190738439559937,
                        "yaw": -0.0999145433306694
                    }
                },
                "velocity": {
                    "x": 6.939318656921387,
                    "y": -0.012844772078096867,
                    "z": -0.05688736215233803
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.227272987365723,
                "transform": {
                    "location": {
                        "x": 238.94764709472656,
                        "y": 5576.75732421875,
                        "z": 365.5357971191406
                    },
                    "rotation": {
                        "roll": -0.0003662110539153218,
                        "pitch": -0.4542212188243866,
                        "yaw": 179.61485290527344
                    }
                },
                "velocity": {
                    "x": -6.227095127105713,
                    "y": 0.019691910594701767,
                    "z": -0.04274942725896835
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.9588727951049805,
                "transform": {
                    "location": {
                        "x": 238.43515014648438,
                        "y": 5580.00341796875,
                        "z": 365.5279541015625
                    },
                    "rotation": {
                        "roll": 0.0012576093431562185,
                        "pitch": -0.4084452986717224,
                        "yaw": 179.90512084960938
                    }
                },
                "velocity": {
                    "x": -5.958732604980469,
                    "y": 0.01120230183005333,
                    "z": -0.039337366819381714
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.205037593841553,
                "transform": {
                    "location": {
                        "x": 214.8531951904297,
                        "y": 5563.5341796875,
                        "z": 365.55389404296875
                    },
                    "rotation": {
                        "roll": -0.0003662252565845847,
                        "pitch": -0.4183012545108795,
                        "yaw": 88.27266693115234
                    }
                },
                "velocity": {
                    "x": 0.15667442977428436,
                    "y": 5.2025146484375,
                    "z": -0.041396364569664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026518821716309,
                "transform": {
                    "location": {
                        "x": 202.02452087402344,
                        "y": 5670.78125,
                        "z": 364.72027587890625
                    },
                    "rotation": {
                        "roll": -0.085845947265625,
                        "pitch": -0.5038425326347351,
                        "yaw": 109.18182373046875
                    }
                },
                "velocity": {
                    "x": -2.652517080307007,
                    "y": 7.575254917144775,
                    "z": -0.06834626197814941
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.300988674163818,
                "transform": {
                    "location": {
                        "x": 210.904296875,
                        "y": 5651.56005859375,
                        "z": 364.8932800292969
                    },
                    "rotation": {
                        "roll": 0.021168483421206474,
                        "pitch": 0.4201522469520569,
                        "yaw": -75.6731948852539
                    }
                },
                "velocity": {
                    "x": 1.2895259857177734,
                    "y": -5.1415863037109375,
                    "z": 0.04114965349435806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.970737457275391,
                "transform": {
                    "location": {
                        "x": 214.6797637939453,
                        "y": 5633.89599609375,
                        "z": 365.02874755859375
                    },
                    "rotation": {
                        "roll": 0.0408870130777359,
                        "pitch": 0.44004857540130615,
                        "yaw": -79.69832611083984
                    }
                },
                "velocity": {
                    "x": 1.2371643781661987,
                    "y": -6.859871864318848,
                    "z": 0.05257362127304077
                },
                "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": -0.03418136388063431,
        "expert_target_speed": 10.0,
        "target_point": [
            15.239478761851279,
            -0.5079709938429583
        ],
        "target_point_next": [
            28.250177389990174,
            -10.911473562278243
        ]
    },
    "225": {
        "acceleration": [
            -0.23205697536468506,
            1.192922592163086,
            -0.000952109694480896
        ],
        "angular_velocity": [
            -0.0749598816037178,
            -0.09380365908145905,
            -1.3979301452636719
        ],
        "forward_vector": [
            0.059786684811115265,
            -0.9982025623321533,
            0.004146444145590067
        ],
        "right_vector": [
            0.9982107281684875,
            0.05978219583630562,
            -0.001198718324303627
        ],
        "location": [
            217.76617431640625,
            5607.5810546875,
            365.2206115722656
        ],
        "rotation": [
            0.06868210434913635,
            0.23757445812225342,
            -86.57240295410156
        ],
        "velocity": [
            0.32347622513771057,
            -5.857447147369385,
            0.04121698439121246
        ],
        "speed": 5.8663722991688045,
        "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": 33.599483489990234,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                236.96249389648438,
                5580.0068359375,
                365.5188903808594
            ],
            "velocity": [
                -5.822111129760742,
                0.012265545316040516,
                -0.03733985871076584
            ],
            "speed_kmh": 20.96007763340845,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.24737662076950073,
                "transform": {
                    "location": {
                        "x": 168.4892120361328,
                        "y": 5583.5205078125,
                        "z": 365.7084045410156
                    },
                    "rotation": {
                        "roll": 0.0006868705386295915,
                        "pitch": -0.793428897857666,
                        "yaw": -0.137725830078125
                    }
                },
                "velocity": {
                    "x": 0.0034822458401322365,
                    "y": -0.00015630469715688378,
                    "z": 0.24735206365585327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8298875093460083,
                "transform": {
                    "location": {
                        "x": 168.769287109375,
                        "y": 5586.7724609375,
                        "z": 365.739013671875
                    },
                    "rotation": {
                        "roll": -0.009063719771802425,
                        "pitch": -0.5420506000518799,
                        "yaw": -0.049072254449129105
                    }
                },
                "velocity": {
                    "x": 1.8298312425613403,
                    "y": 0.014197539538145065,
                    "z": 0.0021083259489387274
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.448899269104004,
                "transform": {
                    "location": {
                        "x": 261.0220947265625,
                        "y": 5576.7646484375,
                        "z": 365.7608947753906
                    },
                    "rotation": {
                        "roll": -0.01095580868422985,
                        "pitch": -0.7655275464057922,
                        "yaw": -179.47085571289062
                    }
                },
                "velocity": {
                    "x": -6.4479660987854,
                    "y": -0.05366385728120804,
                    "z": -0.09566733986139297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.663908958435059,
                "transform": {
                    "location": {
                        "x": 260.63482666015625,
                        "y": 5580.01123046875,
                        "z": 365.80029296875
                    },
                    "rotation": {
                        "roll": -0.00885009579360485,
                        "pitch": -0.7798436284065247,
                        "yaw": -179.61260986328125
                    }
                },
                "velocity": {
                    "x": -5.663111209869385,
                    "y": -0.04347020387649536,
                    "z": -0.08454883098602295
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.041473388671875,
                "transform": {
                    "location": {
                        "x": 214.14125061035156,
                        "y": 5539.70361328125,
                        "z": 365.7452392578125
                    },
                    "rotation": {
                        "roll": -0.0009154626750387251,
                        "pitch": -0.7763670682907104,
                        "yaw": 88.2818603515625
                    }
                },
                "velocity": {
                    "x": 0.27005696296691895,
                    "y": 9.03722858428955,
                    "z": -0.06174217909574509
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.111466407775879,
                "transform": {
                    "location": {
                        "x": 187.8867950439453,
                        "y": 5583.572265625,
                        "z": 365.49420166015625
                    },
                    "rotation": {
                        "roll": 0.0002614098775666207,
                        "pitch": -0.4725329577922821,
                        "yaw": -0.1012573093175888
                    }
                },
                "velocity": {
                    "x": 7.111216068267822,
                    "y": -0.012930106371641159,
                    "z": -0.05825767293572426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.6768598556518555,
                "transform": {
                    "location": {
                        "x": 189.89108276367188,
                        "y": 5586.8173828125,
                        "z": 365.4841613769531
                    },
                    "rotation": {
                        "roll": 0.000641541148070246,
                        "pitch": -0.4205620586872101,
                        "yaw": -0.106231689453125
                    }
                },
                "velocity": {
                    "x": 6.676700115203857,
                    "y": -0.012442792765796185,
                    "z": -0.04449699446558952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7176079750061035,
                "transform": {
                    "location": {
                        "x": 237.45819091796875,
                        "y": 5576.76220703125,
                        "z": 365.52587890625
                    },
                    "rotation": {
                        "roll": -0.003997802268713713,
                        "pitch": -0.42245399951934814,
                        "yaw": 179.77845764160156
                    }
                },
                "velocity": {
                    "x": -5.717486381530762,
                    "y": 0.012643092311918736,
                    "z": -0.035023439675569534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.8222432136535645,
                "transform": {
                    "location": {
                        "x": 236.96249389648438,
                        "y": 5580.0068359375,
                        "z": 365.5188903808594
                    },
                    "rotation": {
                        "roll": 0.0010202359408140182,
                        "pitch": -0.39373305439949036,
                        "yaw": 179.88735961914062
                    }
                },
                "velocity": {
                    "x": -5.822111129760742,
                    "y": 0.012265545316040516,
                    "z": -0.03733985871076584
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.13271951675415,
                "transform": {
                    "location": {
                        "x": 214.89303588867188,
                        "y": 5564.85498046875,
                        "z": 365.5437316894531
                    },
                    "rotation": {
                        "roll": 0.0002150640939362347,
                        "pitch": -0.4463801681995392,
                        "yaw": 88.29962158203125
                    }
                },
                "velocity": {
                    "x": 0.1530289351940155,
                    "y": 5.13028621673584,
                    "z": -0.03940819948911667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037304878234863,
                "transform": {
                    "location": {
                        "x": 201.35452270507812,
                        "y": 5672.673828125,
                        "z": 364.7027893066406
                    },
                    "rotation": {
                        "roll": -0.12966914474964142,
                        "pitch": -0.508302628993988,
                        "yaw": 109.58918762207031
                    }
                },
                "velocity": {
                    "x": -2.7538747787475586,
                    "y": 7.550473690032959,
                    "z": -0.06925465166568756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.587574005126953,
                "transform": {
                    "location": {
                        "x": 211.31483459472656,
                        "y": 5649.90869140625,
                        "z": 364.9068298339844
                    },
                    "rotation": {
                        "roll": 0.01758541353046894,
                        "pitch": 0.6840707063674927,
                        "yaw": -76.0097427368164
                    }
                },
                "velocity": {
                    "x": 1.824259877204895,
                    "y": -7.364777565002441,
                    "z": 0.058361854404211044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.421561241149902,
                "transform": {
                    "location": {
                        "x": 214.960693359375,
                        "y": 5632.2587890625,
                        "z": 365.041748046875
                    },
                    "rotation": {
                        "roll": 0.10508421063423157,
                        "pitch": 0.27115848660469055,
                        "yaw": -80.30028533935547
                    }
                },
                "velocity": {
                    "x": 1.035046100616455,
                    "y": -6.337409496307373,
                    "z": 0.04869713634252548
                },
                "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": -0.02629532292485237,
        "expert_target_speed": 10.0,
        "target_point": [
            13.729382040576233,
            -0.39628931906037945
        ],
        "target_point_next": [
            26.81517122103841,
            -10.705181888497403
        ]
    },
    "230": {
        "acceleration": [
            -0.19606232643127441,
            2.0652294158935547,
            -0.012309402227401733
        ],
        "angular_velocity": [
            0.11421887576580048,
            -0.028688540682196617,
            -1.2044280767440796
        ],
        "forward_vector": [
            0.054153867065906525,
            -0.9985244274139404,
            0.004047501366585493
        ],
        "right_vector": [
            0.9985323548316956,
            0.054150376468896866,
            -0.0009672793676145375
        ],
        "location": [
            217.84132385253906,
            5606.17236328125,
            365.23052978515625
        ],
        "rotation": [
            0.05542149022221565,
            0.23190540075302124,
            -86.89566802978516
        ],
        "velocity": [
            0.2703298032283783,
            -5.433596134185791,
            0.039010096341371536
        ],
        "speed": 5.440316640780412,
        "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": 31.58657455444336,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                235.53741455078125,
                5580.009765625,
                365.5109558105469
            ],
            "velocity": [
                -5.578714370727539,
                0.012312725186347961,
                -0.02928946353495121
            ],
            "speed_kmh": 20.083697444401214,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.058274369686841965,
                "transform": {
                    "location": {
                        "x": 168.4892120361328,
                        "y": 5583.5205078125,
                        "z": 365.7461242675781
                    },
                    "rotation": {
                        "roll": 0.0001479635975556448,
                        "pitch": -0.7929370999336243,
                        "yaw": -0.1377868503332138
                    }
                },
                "velocity": {
                    "x": 0.0008486552396789193,
                    "y": 4.058012200403027e-05,
                    "z": 0.05826817452907562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.3565967082977295,
                "transform": {
                    "location": {
                        "x": 169.41835021972656,
                        "y": 5586.77783203125,
                        "z": 365.7330322265625
                    },
                    "rotation": {
                        "roll": -0.012573241256177425,
                        "pitch": -0.49444419145584106,
                        "yaw": 0.14737679064273834
                    }
                },
                "velocity": {
                    "x": 3.356217384338379,
                    "y": 0.0284621212631464,
                    "z": -0.04167058318853378
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.214282989501953,
                "transform": {
                    "location": {
                        "x": 259.1463317871094,
                        "y": 5576.7490234375,
                        "z": 365.7326965332031
                    },
                    "rotation": {
                        "roll": -0.0087890625,
                        "pitch": -0.6819465160369873,
                        "yaw": -179.5155487060547
                    }
                },
                "velocity": {
                    "x": -8.213210105895996,
                    "y": -0.06511525809764862,
                    "z": -0.11566541343927383
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.117206573486328,
                "transform": {
                    "location": {
                        "x": 259.1005554199219,
                        "y": 5580.00048828125,
                        "z": 365.7769775390625
                    },
                    "rotation": {
                        "roll": -0.0012207026593387127,
                        "pitch": -0.6778483986854553,
                        "yaw": -179.58786010742188
                    }
                },
                "velocity": {
                    "x": -7.116437911987305,
                    "y": -0.026297742500901222,
                    "z": -0.10127074271440506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.83655071258545,
                "transform": {
                    "location": {
                        "x": 214.2078094482422,
                        "y": 5541.9375,
                        "z": 365.7294006347656
                    },
                    "rotation": {
                        "roll": -0.0007324035395868123,
                        "pitch": -0.6864612698554993,
                        "yaw": 88.29803466796875
                    }
                },
                "velocity": {
                    "x": 0.26250937581062317,
                    "y": 8.832415580749512,
                    "z": -0.06440458446741104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.8192138671875,
                "transform": {
                    "location": {
                        "x": 189.6270294189453,
                        "y": 5583.56884765625,
                        "z": 365.48162841796875
                    },
                    "rotation": {
                        "roll": -6.1035112594254315e-05,
                        "pitch": -0.40914881229400635,
                        "yaw": -0.111785888671875
                    }
                },
                "velocity": {
                    "x": 6.819087505340576,
                    "y": -0.014063481241464615,
                    "z": -0.039076291024684906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.494190216064453,
                "transform": {
                    "location": {
                        "x": 191.5389862060547,
                        "y": 5586.81494140625,
                        "z": 365.4735107421875
                    },
                    "rotation": {
                        "roll": 0.00013276193931233138,
                        "pitch": -0.29943546652793884,
                        "yaw": -0.11282345652580261
                    }
                },
                "velocity": {
                    "x": 6.494075298309326,
                    "y": -0.013682033866643906,
                    "z": -0.036118242889642715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.742339134216309,
                "transform": {
                    "location": {
                        "x": 236.02734375,
                        "y": 5576.76611328125,
                        "z": 365.5173645019531
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.3933710753917694,
                        "yaw": 179.85552978515625
                    }
                },
                "velocity": {
                    "x": -5.742257118225098,
                    "y": 0.00904171820729971,
                    "z": -0.029383769258856773
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.5788044929504395,
                "transform": {
                    "location": {
                        "x": 235.53741455078125,
                        "y": 5580.009765625,
                        "z": 365.5109558105469
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.36996400356292725,
                        "yaw": 179.8857879638672
                    }
                },
                "velocity": {
                    "x": -5.578714370727539,
                    "y": 0.012312725186347961,
                    "z": -0.02928946353495121
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.693982124328613,
                "transform": {
                    "location": {
                        "x": 214.9293670654297,
                        "y": 5566.0703125,
                        "z": 365.5335388183594
                    },
                    "rotation": {
                        "roll": 0.000531647470779717,
                        "pitch": -0.4057610332965851,
                        "yaw": 88.29476928710938
                    }
                },
                "velocity": {
                    "x": 0.14133456349372864,
                    "y": 4.691709041595459,
                    "z": -0.036868542432785034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025460243225098,
                "transform": {
                    "location": {
                        "x": 200.6613311767578,
                        "y": 5674.55810546875,
                        "z": 364.6852111816406
                    },
                    "rotation": {
                        "roll": -0.1074524000287056,
                        "pitch": -0.515139639377594,
                        "yaw": 110.25707244873047
                    }
                },
                "velocity": {
                    "x": -2.80142879486084,
                    "y": 7.520301818847656,
                    "z": -0.07123487442731857
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.321015357971191,
                "transform": {
                    "location": {
                        "x": 211.79452514648438,
                        "y": 5647.9541015625,
                        "z": 364.92218017578125
                    },
                    "rotation": {
                        "roll": 0.03445954993367195,
                        "pitch": 0.5947728157043457,
                        "yaw": -76.24221801757812
                    }
                },
                "velocity": {
                    "x": 1.9329626560211182,
                    "y": -8.093137741088867,
                    "z": 0.0638006404042244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.366272449493408,
                "transform": {
                    "location": {
                        "x": 215.2156219482422,
                        "y": 5630.6875,
                        "z": 365.0533752441406
                    },
                    "rotation": {
                        "roll": 0.06635987013578415,
                        "pitch": 0.33991801738739014,
                        "yaw": -80.72573852539062
                    }
                },
                "velocity": {
                    "x": 1.0025266408920288,
                    "y": -6.286653995513916,
                    "z": 0.048449259251356125
                },
                "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": -0.022247081622481346,
        "expert_target_speed": 10.0,
        "target_point": [
            12.320704878965556,
            -0.3175979144220032
        ],
        "target_point_next": [
            25.46443014397886,
            -10.55252002656071
        ]
    },
    "235": {
        "acceleration": [
            -0.18798470497131348,
            -0.20586013793945312,
            0.020331591367721558
        ],
        "angular_velocity": [
            -0.4268767237663269,
            0.07025724649429321,
            -1.3204447031021118
        ],
        "forward_vector": [
            0.04881680756807327,
            -0.9987986087799072,
            0.004271017387509346
        ],
        "right_vector": [
            0.9988075494766235,
            0.048813626170158386,
            -0.0008460608660243452
        ],
        "location": [
            217.90382385253906,
            5604.859375,
            365.23968505859375
        ],
        "rotation": [
            0.048476167023181915,
            0.2447120100259781,
            -87.20186614990234
        ],
        "velocity": [
            0.2229522466659546,
            -5.1335248947143555,
            0.03726727515459061
        ],
        "speed": 5.138364092680221,
        "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": 29.697521209716797,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                234.1685028076172,
                5580.01318359375,
                365.5038146972656
            ],
            "velocity": [
                -5.39409065246582,
                0.01085272803902626,
                -0.02842363715171814
            ],
            "speed_kmh": 19.41903524607457,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4963788986206055,
                "transform": {
                    "location": {
                        "x": 168.8340606689453,
                        "y": 5583.52294921875,
                        "z": 365.74700927734375
                    },
                    "rotation": {
                        "roll": 0.0036915477830916643,
                        "pitch": -0.9951448440551758,
                        "yaw": -0.01913451962172985
                    }
                },
                "velocity": {
                    "x": 2.4959475994110107,
                    "y": 0.028235487639904022,
                    "z": -0.036825671792030334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.875977516174316,
                "transform": {
                    "location": {
                        "x": 170.460693359375,
                        "y": 5586.78759765625,
                        "z": 365.7190856933594
                    },
                    "rotation": {
                        "roll": -0.01663207821547985,
                        "pitch": -0.4812004566192627,
                        "yaw": 0.35904479026794434
                    }
                },
                "velocity": {
                    "x": 4.875283241271973,
                    "y": 0.04806175455451012,
                    "z": -0.06677582859992981
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.207743644714355,
                "transform": {
                    "location": {
                        "x": 257.05999755859375,
                        "y": 5576.73974609375,
                        "z": 365.7040100097656
                    },
                    "rotation": {
                        "roll": -0.0002746583486441523,
                        "pitch": -0.7839348912239075,
                        "yaw": -179.77052307128906
                    }
                },
                "velocity": {
                    "x": -8.206953048706055,
                    "y": -0.01973998360335827,
                    "z": -0.11220424622297287
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.529431343078613,
                "transform": {
                    "location": {
                        "x": 257.060302734375,
                        "y": 5579.9921875,
                        "z": 365.74798583984375
                    },
                    "rotation": {
                        "roll": 0.0004408688109833747,
                        "pitch": -0.6485947370529175,
                        "yaw": -179.79296875
                    }
                },
                "velocity": {
                    "x": -8.528647422790527,
                    "y": -0.0215346310287714,
                    "z": -0.11360177397727966
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.059609413146973,
                "transform": {
                    "location": {
                        "x": 214.27413940429688,
                        "y": 5544.1767578125,
                        "z": 365.70928955078125
                    },
                    "rotation": {
                        "roll": 1.7889737137011252e-05,
                        "pitch": -0.43353256583213806,
                        "yaw": 88.30480194091797
                    }
                },
                "velocity": {
                    "x": 0.26819875836372375,
                    "y": 9.055313110351562,
                    "z": -0.07680205255746841
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.666306495666504,
                "transform": {
                    "location": {
                        "x": 191.30764770507812,
                        "y": 5583.56591796875,
                        "z": 365.47076416015625
                    },
                    "rotation": {
                        "roll": 0.0003598502662498504,
                        "pitch": -0.27712807059288025,
                        "yaw": -0.1146545484662056
                    }
                },
                "velocity": {
                    "x": 6.666182041168213,
                    "y": -0.013327224180102348,
                    "z": -0.038415174931287766
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.235067367553711,
                "transform": {
                    "location": {
                        "x": 193.12796020507812,
                        "y": 5586.8115234375,
                        "z": 365.4662170410156
                    },
                    "rotation": {
                        "roll": 0.0007193617639131844,
                        "pitch": -0.3068530559539795,
                        "yaw": -0.1214294284582138
                    }
                },
                "velocity": {
                    "x": 6.234992980957031,
                    "y": -0.013922310434281826,
                    "z": -0.027082819491624832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.36818265914917,
                "transform": {
                    "location": {
                        "x": 234.6387481689453,
                        "y": 5576.76806640625,
                        "z": 365.5101623535156
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": -0.32589563727378845,
                        "yaw": 179.8874969482422
                    }
                },
                "velocity": {
                    "x": -5.368118762969971,
                    "y": 0.006985949352383614,
                    "z": -0.02514824829995632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.394176483154297,
                "transform": {
                    "location": {
                        "x": 234.1685028076172,
                        "y": 5580.01318359375,
                        "z": 365.5038146972656
                    },
                    "rotation": {
                        "roll": 0.00015677930787205696,
                        "pitch": -0.3097490668296814,
                        "yaw": 179.88241577148438
                    }
                },
                "velocity": {
                    "x": -5.39409065246582,
                    "y": 0.01085272803902626,
                    "z": -0.02842363715171814
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.512838363647461,
                "transform": {
                    "location": {
                        "x": 214.96414184570312,
                        "y": 5567.23681640625,
                        "z": 365.5247497558594
                    },
                    "rotation": {
                        "roll": 0.00013575376942753792,
                        "pitch": -0.4266340732574463,
                        "yaw": 88.29153442382812
                    }
                },
                "velocity": {
                    "x": 0.13453681766986847,
                    "y": 4.510682106018066,
                    "z": -0.0368405319750309
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 200.06546020507812,
                        "y": 5676.55224609375,
                        "z": 364.67047119140625
                    },
                    "rotation": {
                        "roll": 5.336296027280696e-08,
                        "pitch": -0.5095798969268799,
                        "yaw": 110.81279754638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.341386795043945,
                "transform": {
                    "location": {
                        "x": 212.24078369140625,
                        "y": 5646.03369140625,
                        "z": 364.9371032714844
                    },
                    "rotation": {
                        "roll": 0.03686922416090965,
                        "pitch": 0.36703386902809143,
                        "yaw": -77.03555297851562
                    }
                },
                "velocity": {
                    "x": 1.6352479457855225,
                    "y": -7.156729698181152,
                    "z": 0.05605604872107506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.308245658874512,
                "transform": {
                    "location": {
                        "x": 215.46617126464844,
                        "y": 5629.11181640625,
                        "z": 365.0650329589844
                    },
                    "rotation": {
                        "roll": 0.03778868541121483,
                        "pitch": 0.3956660032272339,
                        "yaw": -80.95458221435547
                    }
                },
                "velocity": {
                    "x": 0.9830595254898071,
                    "y": -6.230997562408447,
                    "z": 0.04714087396860123
                },
                "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": -0.014557856135070324,
        "expert_target_speed": 10.0,
        "target_point": [
            11.007752518969966,
            -0.2500684866839139
        ],
        "target_point_next": [
            24.205995487263134,
            -10.414591448121637
        ]
    },
    "240": {
        "acceleration": [
            -0.2807605266571045,
            4.649200439453125,
            -0.0008952990174293518
        ],
        "angular_velocity": [
            0.9441295266151428,
            -0.009779643267393112,
            -1.2193917036056519
        ],
        "forward_vector": [
            0.04293305054306984,
            -0.9990769028663635,
            0.0014541143318638206
        ],
        "right_vector": [
            0.9990776777267456,
            0.042931895703077316,
            -0.000815429026260972
        ],
        "location": [
            217.951171875,
            5603.6884765625,
            365.2481994628906
        ],
        "rotation": [
            0.04672069847583771,
            0.08331464231014252,
            -87.53936004638672
        ],
        "velocity": [
            0.14460909366607666,
            -4.0838422775268555,
            0.029216861352324486
        ],
        "speed": 4.086401783682884,
        "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": 27.966699600219727,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                232.8397674560547,
                5580.015625,
                365.4973449707031
            ],
            "velocity": [
                -5.228935241699219,
                0.010990297421813011,
                -0.020696649327874184
            ],
            "speed_kmh": 18.82435590349909,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6320078372955322,
                "transform": {
                    "location": {
                        "x": 169.60787963867188,
                        "y": 5583.5302734375,
                        "z": 365.7350158691406
                    },
                    "rotation": {
                        "roll": -0.001983642578125,
                        "pitch": -0.92535400390625,
                        "yaw": 0.19778698682785034
                    }
                },
                "velocity": {
                    "x": 3.6313858032226562,
                    "y": 0.04185738041996956,
                    "z": -0.05258943513035774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.557873725891113,
                "transform": {
                    "location": {
                        "x": 171.7977294921875,
                        "y": 5586.7978515625,
                        "z": 365.7008972167969
                    },
                    "rotation": {
                        "roll": 0.00032804603688418865,
                        "pitch": -0.6263078451156616,
                        "yaw": 0.3983597457408905
                    }
                },
                "velocity": {
                    "x": 5.557248592376709,
                    "y": 0.032920584082603455,
                    "z": -0.07657108455896378
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.845506191253662,
                "transform": {
                    "location": {
                        "x": 255.0711669921875,
                        "y": 5576.73486328125,
                        "z": 365.67816162109375
                    },
                    "rotation": {
                        "roll": -0.0024719240609556437,
                        "pitch": -0.7363284826278687,
                        "yaw": -179.87612915039062
                    }
                },
                "velocity": {
                    "x": -7.844859600067139,
                    "y": -0.01515894290059805,
                    "z": -0.09958510100841522
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.89993953704834,
                "transform": {
                    "location": {
                        "x": 255.0076446533203,
                        "y": 5579.9873046875,
                        "z": 365.7224426269531
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.7349214553833008,
                        "yaw": -179.84222412109375
                    }
                },
                "velocity": {
                    "x": -7.899265766143799,
                    "y": -0.01874101534485817,
                    "z": -0.10145868360996246
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.955977916717529,
                "transform": {
                    "location": {
                        "x": 214.333740234375,
                        "y": 5546.18310546875,
                        "z": 365.6955261230469
                    },
                    "rotation": {
                        "roll": 0.000248980795731768,
                        "pitch": -0.8237276077270508,
                        "yaw": 88.29971313476562
                    }
                },
                "velocity": {
                    "x": 0.20725321769714355,
                    "y": 6.952648162841797,
                    "z": -0.05794910714030266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.941604137420654,
                "transform": {
                    "location": {
                        "x": 192.88905334472656,
                        "y": 5583.56298828125,
                        "z": 365.4632263183594
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.28042706847190857,
                        "yaw": -0.11956784129142761
                    }
                },
                "velocity": {
                    "x": 5.941525936126709,
                    "y": -0.013572996482253075,
                    "z": -0.027343248948454857
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.047370433807373,
                "transform": {
                    "location": {
                        "x": 194.661865234375,
                        "y": 5586.80859375,
                        "z": 365.4615478515625
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.192085400223732,
                        "yaw": -0.1271056979894638
                    }
                },
                "velocity": {
                    "x": 6.047328472137451,
                    "y": -0.013275520876049995,
                    "z": -0.018113775178790092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.2999444007873535,
                "transform": {
                    "location": {
                        "x": 233.30616760253906,
                        "y": 5576.77099609375,
                        "z": 365.50341796875
                    },
                    "rotation": {
                        "roll": 0.002473156899213791,
                        "pitch": -0.29144415259361267,
                        "yaw": 179.91986083984375
                    }
                },
                "velocity": {
                    "x": -5.299872875213623,
                    "y": 0.01106366515159607,
                    "z": -0.02520095370709896
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.228987693786621,
                "transform": {
                    "location": {
                        "x": 232.8397674560547,
                        "y": 5580.015625,
                        "z": 365.4973449707031
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.2779545187950134,
                        "yaw": 179.88150024414062
                    }
                },
                "velocity": {
                    "x": -5.228935241699219,
                    "y": 0.010990297421813011,
                    "z": -0.020696649327874184
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.34102201461792,
                "transform": {
                    "location": {
                        "x": 214.99725341796875,
                        "y": 5568.3369140625,
                        "z": 365.5159606933594
                    },
                    "rotation": {
                        "roll": 0.0006780620897188783,
                        "pitch": -0.43002185225486755,
                        "yaw": 88.28543853759766
                    }
                },
                "velocity": {
                    "x": 0.12963587045669556,
                    "y": 4.338954925537109,
                    "z": -0.033729493618011475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 199.31671142578125,
                        "y": 5678.494140625,
                        "z": 364.65185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5240462422370911,
                        "yaw": 112.02600860595703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.424829959869385,
                "transform": {
                    "location": {
                        "x": 212.60023498535156,
                        "y": 5644.44189453125,
                        "z": 364.9494323730469
                    },
                    "rotation": {
                        "roll": 0.020360279828310013,
                        "pitch": 0.18013256788253784,
                        "yaw": -77.3729019165039
                    }
                },
                "velocity": {
                    "x": 1.181973934173584,
                    "y": -5.2943267822265625,
                    "z": 0.04267176613211632
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.9807963371276855,
                "transform": {
                    "location": {
                        "x": 215.69203186035156,
                        "y": 5627.6025390625,
                        "z": 365.0765686035156
                    },
                    "rotation": {
                        "roll": 0.09361836314201355,
                        "pitch": 0.31741252541542053,
                        "yaw": -81.45841979980469
                    }
                },
                "velocity": {
                    "x": 0.841214656829834,
                    "y": -5.921173572540283,
                    "z": 0.044572990387678146
                },
                "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": -0.004542091861367226,
        "expert_target_speed": 10.0,
        "target_point": [
            9.837183041057836,
            -0.18225314034648257
        ],
        "target_point_next": [
            23.09507539221284,
            -10.268849934552172
        ]
    },
    "245": {
        "acceleration": [
            -0.15825599431991577,
            3.141493797302246,
            -0.024707242846488953
        ],
        "angular_velocity": [
            -0.10215412825345993,
            -0.0890655666589737,
            -0.35308095812797546
        ],
        "forward_vector": [
            0.03822844475507736,
            -0.9992689490318298,
            0.00025999543140642345
        ],
        "right_vector": [
            0.9992688894271851,
            0.03822830691933632,
            -0.0005376608460210264
        ],
        "location": [
            217.98171997070312,
            5602.791015625,
            365.25482177734375
        ],
        "rotation": [
            0.03080570138990879,
            0.014896641485393047,
            -87.80913543701172
        ],
        "velocity": [
            0.0963108241558075,
            -3.192746162414551,
            0.023494910448789597
        ],
        "speed": 3.1941984647893142,
        "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": 26.514352798461914,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                231.55999755859375,
                5580.0185546875,
                365.4920654296875
            ],
            "velocity": [
                -5.023894309997559,
                0.011892897076904774,
                -0.021575693041086197
            ],
            "speed_kmh": 18.086236978007832,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.777108669281006,
                "transform": {
                    "location": {
                        "x": 170.66647338867188,
                        "y": 5583.541015625,
                        "z": 365.7199401855469
                    },
                    "rotation": {
                        "roll": -0.005126953125,
                        "pitch": -0.9057581424713135,
                        "yaw": 0.3856499493122101
                    }
                },
                "velocity": {
                    "x": 4.776334762573242,
                    "y": 0.05551914870738983,
                    "z": -0.06566956639289856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.488455772399902,
                "transform": {
                    "location": {
                        "x": 173.3121795654297,
                        "y": 5586.80615234375,
                        "z": 365.67987060546875
                    },
                    "rotation": {
                        "roll": -0.00018310522136744112,
                        "pitch": -0.6490455269813538,
                        "yaw": 0.31311091780662537
                    }
                },
                "velocity": {
                    "x": 6.487764358520508,
                    "y": 0.032621804624795914,
                    "z": -0.08892812579870224
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.181084632873535,
                "transform": {
                    "location": {
                        "x": 253.06272888183594,
                        "y": 5576.732421875,
                        "z": 365.6529541015625
                    },
                    "rotation": {
                        "roll": 0.00022131099831312895,
                        "pitch": -0.6858192682266235,
                        "yaw": -179.9483184814453
                    }
                },
                "velocity": {
                    "x": -8.180473327636719,
                    "y": 0.001956444699317217,
                    "z": -0.09998094290494919
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.960956573486328,
                "transform": {
                    "location": {
                        "x": 253.0489044189453,
                        "y": 5579.9833984375,
                        "z": 365.6978454589844
                    },
                    "rotation": {
                        "roll": 0.0034479477908462286,
                        "pitch": -0.7005929350852966,
                        "yaw": -179.9380645751953
                    }
                },
                "velocity": {
                    "x": -7.9603800773620605,
                    "y": 0.0005295562441460788,
                    "z": -0.095793217420578
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.440511226654053,
                "transform": {
                    "location": {
                        "x": 214.38211059570312,
                        "y": 5547.8232421875,
                        "z": 365.6815490722656
                    },
                    "rotation": {
                        "roll": -0.001098630833439529,
                        "pitch": -0.7373666763305664,
                        "yaw": 88.2976303100586
                    }
                },
                "velocity": {
                    "x": 0.1912650465965271,
                    "y": 6.437456130981445,
                    "z": -0.052517712116241455
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.130855083465576,
                "transform": {
                    "location": {
                        "x": 194.37710571289062,
                        "y": 5583.55908203125,
                        "z": 365.45819091796875
                    },
                    "rotation": {
                        "roll": 0.0005931333871558309,
                        "pitch": -0.1823660433292389,
                        "yaw": -0.1341552585363388
                    }
                },
                "velocity": {
                    "x": 6.1308207511901855,
                    "y": -0.01556976418942213,
                    "z": -0.013316631317138672
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.816586494445801,
                "transform": {
                    "location": {
                        "x": 196.1453094482422,
                        "y": 5586.8046875,
                        "z": 365.4573059082031
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.09005603939294815,
                        "yaw": -0.13128662109375
                    }
                },
                "velocity": {
                    "x": 5.816562175750732,
                    "y": -0.013330774381756783,
                    "z": -0.01035286858677864
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.118408203125,
                "transform": {
                    "location": {
                        "x": 232.00656127929688,
                        "y": 5576.7724609375,
                        "z": 365.4975280761719
                    },
                    "rotation": {
                        "roll": 0.0012316855136305094,
                        "pitch": -0.2598886787891388,
                        "yaw": 179.70152282714844
                    }
                },
                "velocity": {
                    "x": -5.118350505828857,
                    "y": 0.012064379639923573,
                    "z": -0.021111350506544113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.023954391479492,
                "transform": {
                    "location": {
                        "x": 231.55999755859375,
                        "y": 5580.0185546875,
                        "z": 365.4920654296875
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.2865605652332306,
                        "yaw": 179.87222290039062
                    }
                },
                "velocity": {
                    "x": -5.023894309997559,
                    "y": 0.011892897076904774,
                    "z": -0.021575693041086197
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.089424133300781,
                "transform": {
                    "location": {
                        "x": 215.02874755859375,
                        "y": 5569.3857421875,
                        "z": 365.50787353515625
                    },
                    "rotation": {
                        "roll": 0.008695336058735847,
                        "pitch": -0.4245850145816803,
                        "yaw": 88.28955078125
                    }
                },
                "velocity": {
                    "x": 0.12167675793170929,
                    "y": 4.08748197555542,
                    "z": -0.03281530365347862
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4437,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 198.56851196289062,
                        "y": 5680.43603515625,
                        "z": 364.63330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5240462422370911,
                        "yaw": 112.02600860595703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.639847278594971,
                "transform": {
                    "location": {
                        "x": 212.86257934570312,
                        "y": 5643.23291015625,
                        "z": 364.9588317871094
                    },
                    "rotation": {
                        "roll": 0.03130440413951874,
                        "pitch": 0.28224387764930725,
                        "yaw": -77.7708511352539
                    }
                },
                "velocity": {
                    "x": 0.9494814872741699,
                    "y": -4.5415143966674805,
                    "z": 0.03625126928091049
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.241193771362305,
                "transform": {
                    "location": {
                        "x": 215.86233520507812,
                        "y": 5626.392578125,
                        "z": 365.0869140625
                    },
                    "rotation": {
                        "roll": 0.050728507339954376,
                        "pitch": -0.10073845088481903,
                        "yaw": -81.79924011230469
                    }
                },
                "velocity": {
                    "x": 0.579010546207428,
                    "y": -4.201379776000977,
                    "z": 0.02968643046915531
                },
                "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": 0.005359039641916752,
        "expert_target_speed": 10.0,
        "target_point": [
            8.939959271291224,
            -0.13215983161125805
        ],
        "target_point_next": [
            22.245186942613756,
            -10.156233908450883
        ]
    },
    "250": {
        "acceleration": [
            -0.10522335767745972,
            2.6734304428100586,
            -0.031081214547157288
        ],
        "angular_velocity": [
            -0.19203871488571167,
            -0.03483030945062637,
            -1.6574281454086304
        ],
        "forward_vector": [
            0.03424564376473427,
            -0.9994128942489624,
            0.001054286607541144
        ],
        "right_vector": [
            0.9994133710861206,
            0.034245360642671585,
            -0.0002816139895003289
        ],
        "location": [
            218.00233459472656,
            5602.087890625,
            365.259765625
        ],
        "rotation": [
            0.01613530144095421,
            0.060406189411878586,
            -88.03748321533203
        ],
        "velocity": [
            0.06475257128477097,
            -2.479294776916504,
            0.017795847728848457
        ],
        "speed": 2.4801402150550773,
        "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": 25.395246505737305,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.57147216796875,
                5580.0224609375,
                365.4881286621094
            ],
            "velocity": [
                -1.3821357488632202,
                0.015100735239684582,
                -0.0048914337530732155
            ],
            "speed_kmh": 4.976016818553336,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.27711820602417,
                "transform": {
                    "location": {
                        "x": 171.9589080810547,
                        "y": 5583.55126953125,
                        "z": 365.7019958496094
                    },
                    "rotation": {
                        "roll": -0.01330566592514515,
                        "pitch": -0.8516221046447754,
                        "yaw": 0.40208885073661804
                    }
                },
                "velocity": {
                    "x": 5.2765631675720215,
                    "y": 0.02382327802479267,
                    "z": -0.07272367179393768
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.572371482849121,
                "transform": {
                    "location": {
                        "x": 175.2624969482422,
                        "y": 5586.8154296875,
                        "z": 365.6529235839844
                    },
                    "rotation": {
                        "roll": -0.004302977584302425,
                        "pitch": -0.43985050916671753,
                        "yaw": 0.2829674482345581
                    }
                },
                "velocity": {
                    "x": 8.571454048156738,
                    "y": 0.041961997747421265,
                    "z": -0.11815862357616425
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.770594120025635,
                "transform": {
                    "location": {
                        "x": 251.05679321289062,
                        "y": 5576.73291015625,
                        "z": 365.6294860839844
                    },
                    "rotation": {
                        "roll": 0.0002535896492190659,
                        "pitch": -0.6841390132904053,
                        "yaw": 179.98045349121094
                    }
                },
                "velocity": {
                    "x": -7.770147323608398,
                    "y": 0.004577510058879852,
                    "z": -0.08321208506822586
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.932211875915527,
                "transform": {
                    "location": {
                        "x": 251.0360107421875,
                        "y": 5579.9833984375,
                        "z": 365.67437744140625
                    },
                    "rotation": {
                        "roll": 0.0007326328195631504,
                        "pitch": -0.6643382906913757,
                        "yaw": -179.99183654785156
                    }
                },
                "velocity": {
                    "x": -7.931754112243652,
                    "y": 0.0031280708499252796,
                    "z": -0.08512751758098602
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.056864738464355,
                "transform": {
                    "location": {
                        "x": 214.435302734375,
                        "y": 5549.6015625,
                        "z": 365.6625671386719
                    },
                    "rotation": {
                        "roll": -0.0035095098428428173,
                        "pitch": -0.1584194004535675,
                        "yaw": 88.35661315917969
                    }
                },
                "velocity": {
                    "x": 0.23621174693107605,
                    "y": 8.053149223327637,
                    "z": -0.06379152834415436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.973282337188721,
                "transform": {
                    "location": {
                        "x": 195.91436767578125,
                        "y": 5583.5556640625,
                        "z": 365.4537048339844
                    },
                    "rotation": {
                        "roll": 0.00052397430408746,
                        "pitch": -0.06656018644571304,
                        "yaw": -0.1402282416820526
                    }
                },
                "velocity": {
                    "x": 5.973247528076172,
                    "y": -0.01468972023576498,
                    "z": -0.014035520143806934
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.641505241394043,
                "transform": {
                    "location": {
                        "x": 197.5760955810547,
                        "y": 5586.80224609375,
                        "z": 365.4558410644531
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.09552019089460373,
                        "yaw": -0.1321105808019638
                    }
                },
                "velocity": {
                    "x": 5.641488075256348,
                    "y": -0.013018839061260223,
                    "z": -0.00502123823389411
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2186442613601685,
                "transform": {
                    "location": {
                        "x": 231.08514404296875,
                        "y": 5576.7490234375,
                        "z": 365.4986877441406
                    },
                    "rotation": {
                        "roll": -0.0379028357565403,
                        "pitch": -0.8701797127723694,
                        "yaw": 177.91796875
                    }
                },
                "velocity": {
                    "x": -1.215604543685913,
                    "y": -0.08588948100805283,
                    "z": -0.00474002817645669
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3822269439697266,
                "transform": {
                    "location": {
                        "x": 230.57147216796875,
                        "y": 5580.0224609375,
                        "z": 365.4881286621094
                    },
                    "rotation": {
                        "roll": -0.003112792270258069,
                        "pitch": -0.8174096941947937,
                        "yaw": -179.74652099609375
                    }
                },
                "velocity": {
                    "x": -1.3821357488632202,
                    "y": 0.015100735239684582,
                    "z": -0.0048914337530732155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.173292636871338,
                "transform": {
                    "location": {
                        "x": 215.05772399902344,
                        "y": 5570.3984375,
                        "z": 365.50030517578125
                    },
                    "rotation": {
                        "roll": 0.024544868618249893,
                        "pitch": -0.4342292547225952,
                        "yaw": 88.31845092773438
                    }
                },
                "velocity": {
                    "x": 0.11557438224554062,
                    "y": 4.171584606170654,
                    "z": -0.029955225065350533
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.762845516204834,
                "transform": {
                    "location": {
                        "x": 213.09085083007812,
                        "y": 5642.12939453125,
                        "z": 364.9678039550781
                    },
                    "rotation": {
                        "roll": 0.0129854716360569,
                        "pitch": 0.4196741282939911,
                        "yaw": -78.11569213867188
                    }
                },
                "velocity": {
                    "x": 0.9604371190071106,
                    "y": -4.664858818054199,
                    "z": 0.03675834462046623
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.159600734710693,
                "transform": {
                    "location": {
                        "x": 216.02218627929688,
                        "y": 5625.23779296875,
                        "z": 365.0935974121094
                    },
                    "rotation": {
                        "roll": 0.027141373604536057,
                        "pitch": 0.42633354663848877,
                        "yaw": -81.99666595458984
                    }
                },
                "velocity": {
                    "x": 0.7011048793792725,
                    "y": -5.111575126647949,
                    "z": 0.04160209745168686
                },
                "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": 0.01450265385210514,
        "expert_target_speed": 10.0,
        "target_point": [
            8.236996445199537,
            -0.0930525701476515
        ],
        "target_point_next": [
            21.582068561923666,
            -10.064020160262823
        ]
    },
    "255": {
        "acceleration": [
            -0.07103309035301208,
            2.2712182998657227,
            -0.014112666249275208
        ],
        "angular_velocity": [
            -0.19219128787517548,
            0.009240138344466686,
            0.44602200388908386
        ],
        "forward_vector": [
            0.03142246603965759,
            -0.9995043277740479,
            0.00190734735224396
        ],
        "right_vector": [
            0.9995061755180359,
            0.03142230212688446,
            -0.0001175200377474539
        ],
        "location": [
            218.01625061035156,
            5601.548828125,
            365.2633361816406
        ],
        "rotation": [
            0.006733414717018604,
            0.10928302258253098,
            -88.19932556152344
        ],
        "velocity": [
            0.04287976771593094,
            -1.8729444742202759,
            0.013331413269042969
        ],
        "speed": 1.8734352612224523,
        "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": 24.905288696289062,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.53976440429688,
                5580.0224609375,
                365.4881896972656
            ],
            "velocity": [
                0.0076260799542069435,
                -0.0006124230567365885,
                0.002215279033407569
            ],
            "speed_kmh": 0.028673636983969828,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 264.7257080078125,
                        "y": 5576.78857421875,
                        "z": 366.2156066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9479414224624634,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 264.7335205078125,
                        "y": 5580.03857421875,
                        "z": 366.2156066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9479414224624634,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.96343994140625,
                        "y": 5510.7763671875,
                        "z": 366.03143310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.888498783111572,
                "transform": {
                    "location": {
                        "x": 173.3757781982422,
                        "y": 5583.55810546875,
                        "z": 365.6822204589844
                    },
                    "rotation": {
                        "roll": -0.008178710006177425,
                        "pitch": -0.8374562859535217,
                        "yaw": 0.30554330348968506
                    }
                },
                "velocity": {
                    "x": 5.887867450714111,
                    "y": 0.026239629834890366,
                    "z": -0.08215896785259247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.006279945373535,
                "transform": {
                    "location": {
                        "x": 177.33819580078125,
                        "y": 5586.82373046875,
                        "z": 365.6241455078125
                    },
                    "rotation": {
                        "roll": 0.007645744364708662,
                        "pitch": -0.7888799905776978,
                        "yaw": 0.189667209982872
                    }
                },
                "velocity": {
                    "x": 8.0054931640625,
                    "y": 0.018168283626437187,
                    "z": -0.11078900098800659
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.444897651672363,
                "transform": {
                    "location": {
                        "x": 249.1649169921875,
                        "y": 5576.7333984375,
                        "z": 365.6087341308594
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.6069032549858093,
                        "yaw": 179.96505737304688
                    }
                },
                "velocity": {
                    "x": -7.444473743438721,
                    "y": 0.005912491120398045,
                    "z": -0.0792483538389206
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.342642784118652,
                "transform": {
                    "location": {
                        "x": 249.13491821289062,
                        "y": 5579.984375,
                        "z": 365.65362548828125
                    },
                    "rotation": {
                        "roll": 0.0009795313235372305,
                        "pitch": -0.6328716278076172,
                        "yaw": 179.9513702392578
                    }
                },
                "velocity": {
                    "x": -7.342232704162598,
                    "y": 0.009426542557775974,
                    "z": -0.07703915238380432
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.49561595916748,
                "transform": {
                    "location": {
                        "x": 214.49632263183594,
                        "y": 5551.6943359375,
                        "z": 365.6463623046875
                    },
                    "rotation": {
                        "roll": 0.0013720033457502723,
                        "pitch": -0.20965947210788727,
                        "yaw": 88.24259948730469
                    }
                },
                "velocity": {
                    "x": 0.2521647810935974,
                    "y": 8.491600036621094,
                    "z": -0.06809945404529572
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.5727105140686035,
                "transform": {
                    "location": {
                        "x": 197.35194396972656,
                        "y": 5583.5517578125,
                        "z": 365.4519348144531
                    },
                    "rotation": {
                        "roll": 0.00033795300987549126,
                        "pitch": -0.06863656640052795,
                        "yaw": -0.140716552734375
                    }
                },
                "velocity": {
                    "x": 5.572690486907959,
                    "y": -0.013667925260961056,
                    "z": -0.00596308708190918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.422198295593262,
                "transform": {
                    "location": {
                        "x": 198.95843505859375,
                        "y": 5586.798828125,
                        "z": 365.45538330078125
                    },
                    "rotation": {
                        "roll": 0.000409109954489395,
                        "pitch": -0.0521826408803463,
                        "yaw": -0.1410522609949112
                    }
                },
                "velocity": {
                    "x": 5.422178745269775,
                    "y": -0.0144120454788208,
                    "z": -0.0012516021961346269
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007660477887839079,
                "transform": {
                    "location": {
                        "x": 231.06163024902344,
                        "y": 5576.7451171875,
                        "z": 365.4989318847656
                    },
                    "rotation": {
                        "roll": 0.08354523777961731,
                        "pitch": -0.8844616413116455,
                        "yaw": 177.72543334960938
                    }
                },
                "velocity": {
                    "x": 0.007151866797357798,
                    "y": 0.002056940458714962,
                    "z": 0.001817337702959776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.007964898832142353,
                "transform": {
                    "location": {
                        "x": 230.53976440429688,
                        "y": 5580.0224609375,
                        "z": 365.4881896972656
                    },
                    "rotation": {
                        "roll": -0.012084960006177425,
                        "pitch": -0.6286232471466064,
                        "yaw": -179.73660278320312
                    }
                },
                "velocity": {
                    "x": 0.0076260799542069435,
                    "y": -0.0006124230567365885,
                    "z": 0.002215279033407569
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.178802967071533,
                "transform": {
                    "location": {
                        "x": 215.09039306640625,
                        "y": 5571.5673828125,
                        "z": 365.4926452636719
                    },
                    "rotation": {
                        "roll": 0.026360344141721725,
                        "pitch": -0.4968279302120209,
                        "yaw": 88.3608169555664
                    }
                },
                "velocity": {
                    "x": 0.14310826361179352,
                    "y": 5.176706314086914,
                    "z": -0.03506466746330261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.351487636566162,
                "transform": {
                    "location": {
                        "x": 213.35186767578125,
                        "y": 5640.8544921875,
                        "z": 364.978271484375
                    },
                    "rotation": {
                        "roll": 0.009402788244187832,
                        "pitch": 0.5055432319641113,
                        "yaw": -78.33616638183594
                    }
                },
                "velocity": {
                    "x": 1.0704100131988525,
                    "y": -5.2431864738464355,
                    "z": 0.040483541786670685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1143293380737305,
                "transform": {
                    "location": {
                        "x": 216.1910858154297,
                        "y": 5624.08251953125,
                        "z": 365.10345458984375
                    },
                    "rotation": {
                        "roll": -0.0710143968462944,
                        "pitch": 0.03885011374950409,
                        "yaw": -83.18016052246094
                    }
                },
                "velocity": {
                    "x": 0.5275961756706238,
                    "y": -3.0692427158355713,
                    "z": 0.020945414900779724
                },
                "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": 0.022196881473064423,
        "expert_target_speed": 0,
        "target_point": [
            7.697992968685568,
            -0.06674152593464655
        ],
        "target_point_next": [
            21.07119472403838,
            -9.999949431456571
        ]
    },
    "260": {
        "acceleration": [
            -0.050412192940711975,
            1.79063081741333,
            0.010110661387443542
        ],
        "angular_velocity": [
            -0.19839824736118317,
            -0.03736834600567818,
            -1.6420663595199585
        ],
        "forward_vector": [
            0.029010005295276642,
            -0.9995753169059753,
            0.002753850072622299
        ],
        "right_vector": [
            0.999579131603241,
            0.029010066762566566,
            -1.7900367311085574e-05
        ],
        "location": [
            218.02554321289062,
            5601.14599609375,
            365.2659606933594
        ],
        "rotation": [
            0.001025619450956583,
            0.15778419375419617,
            -88.33760833740234
        ],
        "velocity": [
            0.028397997841238976,
            -1.3793749809265137,
            0.009929666295647621
        ],
        "speed": 1.3796672730362967,
        "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": 24.552112579345703,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.53765869140625,
                5580.0224609375,
                365.48834228515625
            ],
            "velocity": [
                0.0018981744069606066,
                -3.645462493295781e-05,
                0.0011758849723264575
            ],
            "speed_kmh": 0.008039454105368679,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2731631994247437,
                "transform": {
                    "location": {
                        "x": 264.72662353515625,
                        "y": 5576.78857421875,
                        "z": 365.81890869140625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": -0.9313303828239441,
                        "yaw": 179.86233520507812
                    }
                },
                "velocity": {
                    "x": 0.020781351253390312,
                    "y": 0.00018479066784493625,
                    "z": -1.272993564605713
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3196460008621216,
                "transform": {
                    "location": {
                        "x": 264.7348327636719,
                        "y": 5580.03857421875,
                        "z": 365.82373046875
                    },
                    "rotation": {
                        "roll": 0.00012811290798708797,
                        "pitch": -0.9325871467590332,
                        "yaw": 179.86228942871094
                    }
                },
                "velocity": {
                    "x": 0.021126441657543182,
                    "y": -2.742684273471241e-06,
                    "z": -1.319476842880249
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.6298370361328,
                        "y": 5514.50927734375,
                        "z": 365.9609375
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.565343379974365,
                "transform": {
                    "location": {
                        "x": 175.0703125,
                        "y": 5583.5654296875,
                        "z": 365.6595764160156
                    },
                    "rotation": {
                        "roll": -0.005554198287427425,
                        "pitch": -0.9411044120788574,
                        "yaw": 0.28290998935699463
                    }
                },
                "velocity": {
                    "x": 7.564538478851318,
                    "y": 0.034300800412893295,
                    "z": -0.1048627719283104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.909448146820068,
                "transform": {
                    "location": {
                        "x": 179.30303955078125,
                        "y": 5586.826171875,
                        "z": 365.59698486328125
                    },
                    "rotation": {
                        "roll": 0.005534543190151453,
                        "pitch": -0.812744677066803,
                        "yaw": 0.08087269961833954
                    }
                },
                "velocity": {
                    "x": 7.908740520477295,
                    "y": 0.007589593529701233,
                    "z": -0.10554452985525131
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.269449710845947,
                "transform": {
                    "location": {
                        "x": 247.32546997070312,
                        "y": 5576.736328125,
                        "z": 365.58990478515625
                    },
                    "rotation": {
                        "roll": 0.0007874528528191149,
                        "pitch": -0.5971702337265015,
                        "yaw": 179.9275665283203
                    }
                },
                "velocity": {
                    "x": -7.269057273864746,
                    "y": 0.011803023517131805,
                    "z": -0.07461021095514297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.237191677093506,
                "transform": {
                    "location": {
                        "x": 247.32093811035156,
                        "y": 5579.98681640625,
                        "z": 365.63494873046875
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.6083649396896362,
                        "yaw": 179.9429931640625
                    }
                },
                "velocity": {
                    "x": -7.236813068389893,
                    "y": 0.009306222200393677,
                    "z": -0.07341767102479935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.880087852478027,
                "transform": {
                    "location": {
                        "x": 214.55764770507812,
                        "y": 5553.751953125,
                        "z": 365.63287353515625
                    },
                    "rotation": {
                        "roll": 0.0043362220749258995,
                        "pitch": -0.584862232208252,
                        "yaw": 88.20614624023438
                    }
                },
                "velocity": {
                    "x": 0.23729832470417023,
                    "y": 7.876256465911865,
                    "z": -0.06373760104179382
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.418110370635986,
                "transform": {
                    "location": {
                        "x": 198.7166290283203,
                        "y": 5583.548828125,
                        "z": 365.45123291015625
                    },
                    "rotation": {
                        "roll": 0.00049917510477826,
                        "pitch": -0.035182300955057144,
                        "yaw": -0.1416930854320526
                    }
                },
                "velocity": {
                    "x": 5.418091773986816,
                    "y": -0.013983447104692459,
                    "z": 0.0019275951199233532
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.26065731048584,
                "transform": {
                    "location": {
                        "x": 200.29296875,
                        "y": 5586.79541015625,
                        "z": 365.45501708984375
                    },
                    "rotation": {
                        "roll": 7.499535422539338e-05,
                        "pitch": -3.415094397496432e-05,
                        "yaw": -0.1468505859375
                    }
                },
                "velocity": {
                    "x": 5.260639667510986,
                    "y": -0.013463039882481098,
                    "z": -0.002358989557251334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0034576905891299248,
                "transform": {
                    "location": {
                        "x": 231.05624389648438,
                        "y": 5576.7451171875,
                        "z": 365.4934387207031
                    },
                    "rotation": {
                        "roll": 0.011935665272176266,
                        "pitch": -0.17856162786483765,
                        "yaw": 177.72653198242188
                    }
                },
                "velocity": {
                    "x": 0.0027399796526879072,
                    "y": 0.0013724033487960696,
                    "z": 0.0016014507273212075
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0022331816144287586,
                "transform": {
                    "location": {
                        "x": 230.53765869140625,
                        "y": 5580.0224609375,
                        "z": 365.48834228515625
                    },
                    "rotation": {
                        "roll": -0.004272460006177425,
                        "pitch": -0.3062725067138672,
                        "yaw": -179.7367401123047
                    }
                },
                "velocity": {
                    "x": 0.0018981744069606066,
                    "y": -3.645462493295781e-05,
                    "z": 0.0011758849723264575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.526682376861572,
                "transform": {
                    "location": {
                        "x": 215.12733459472656,
                        "y": 5572.8994140625,
                        "z": 365.4824523925781
                    },
                    "rotation": {
                        "roll": 0.06108752638101578,
                        "pitch": -0.46045035123825073,
                        "yaw": 88.35358428955078
                    }
                },
                "velocity": {
                    "x": 0.15262167155742645,
                    "y": 5.524425029754639,
                    "z": -0.040674615651369095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.562469005584717,
                "transform": {
                    "location": {
                        "x": 213.6355438232422,
                        "y": 5639.4599609375,
                        "z": 364.98931884765625
                    },
                    "rotation": {
                        "roll": 0.007817291654646397,
                        "pitch": 0.6039935946464539,
                        "yaw": -78.49357604980469
                    }
                },
                "velocity": {
                    "x": 1.3048100471496582,
                    "y": -6.431247234344482,
                    "z": 0.05024968832731247
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.006708145141602,
                "transform": {
                    "location": {
                        "x": 216.300537109375,
                        "y": 5623.2294921875,
                        "z": 365.1087341308594
                    },
                    "rotation": {
                        "roll": 0.07435885071754456,
                        "pitch": 0.295904278755188,
                        "yaw": -83.5844955444336
                    }
                },
                "velocity": {
                    "x": 0.4582855999469757,
                    "y": -3.980304718017578,
                    "z": 0.02929924987256527
                },
                "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": 0.02697804942727089,
        "expert_target_speed": 0,
        "target_point": [
            20.692306385932234,
            -9.946729978687348
        ],
        "target_point_next": [
            19.090207069262775,
            -60.9215544947842
        ]
    },
    "265": {
        "acceleration": [
            -0.010921619832515717,
            1.3345956802368164,
            -0.022144131362438202
        ],
        "angular_velocity": [
            -0.1902870535850525,
            -0.018229469656944275,
            0.9019798040390015
        ],
        "forward_vector": [
            0.027553651481866837,
            -0.9996134042739868,
            0.003721109125763178
        ],
        "right_vector": [
            0.9996203184127808,
            0.027553852647542953,
            3.195833187419339e-06
        ],
        "location": [
            218.03170776367188,
            5600.85009765625,
            365.2677917480469
        ],
        "rotation": [
            -0.00018310901941731572,
            0.21320433914661407,
            -88.42108154296875
        ],
        "velocity": [
            0.019459793344140053,
            -1.0181281566619873,
            0.0077507877722382545
        ],
        "speed": 1.018314110157044,
        "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": 24.294490814208984,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5370330810547,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                0.00048213585978373885,
                -7.129401637939736e-05,
                0.0013997304486110806
            ],
            "speed_kmh": 0.005335757646358702,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15536430478096008,
                "transform": {
                    "location": {
                        "x": 264.7273254394531,
                        "y": 5576.78857421875,
                        "z": 365.79144287109375
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": -0.9296228289604187,
                        "yaw": 179.8623046875
                    }
                },
                "velocity": {
                    "x": -0.0025650847237557173,
                    "y": -0.00015926608466543257,
                    "z": 0.15534304082393646
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.24659660458564758,
                "transform": {
                    "location": {
                        "x": 264.7352294921875,
                        "y": 5580.03857421875,
                        "z": 365.7940673828125
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.9241040349006653,
                        "yaw": 179.8622283935547
                    }
                },
                "velocity": {
                    "x": -0.004019066225737333,
                    "y": -2.751766805886291e-05,
                    "z": 0.2465638518333435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.36936950683594,
                        "y": 5518.24560546875,
                        "z": 365.9267883300781
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.316452980041504,
                "transform": {
                    "location": {
                        "x": 177.0895233154297,
                        "y": 5583.57373046875,
                        "z": 365.6311340332031
                    },
                    "rotation": {
                        "roll": -0.011749266646802425,
                        "pitch": -0.8765864372253418,
                        "yaw": 0.21123957633972168
                    }
                },
                "velocity": {
                    "x": 8.315648078918457,
                    "y": 0.01047311071306467,
                    "z": -0.11521150171756744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.11050033569336,
                "transform": {
                    "location": {
                        "x": 181.32749938964844,
                        "y": 5586.8271484375,
                        "z": 365.57073974609375
                    },
                    "rotation": {
                        "roll": 0.0017628814093768597,
                        "pitch": -0.696713387966156,
                        "yaw": 0.04095369204878807
                    }
                },
                "velocity": {
                    "x": 8.109834671020508,
                    "y": 0.00556988688185811,
                    "z": -0.10379613935947418
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.022329807281494,
                "transform": {
                    "location": {
                        "x": 245.537109375,
                        "y": 5576.7392578125,
                        "z": 365.57275390625
                    },
                    "rotation": {
                        "roll": 0.0004419240285642445,
                        "pitch": -0.5589280128479004,
                        "yaw": 179.91400146484375
                    }
                },
                "velocity": {
                    "x": -7.022060394287109,
                    "y": 0.010337835177779198,
                    "z": -0.0606440044939518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.025810241699219,
                "transform": {
                    "location": {
                        "x": 245.53062438964844,
                        "y": 5579.9892578125,
                        "z": 365.6179504394531
                    },
                    "rotation": {
                        "roll": -0.0007324217003770173,
                        "pitch": -0.5569130778312683,
                        "yaw": 179.901611328125
                    }
                },
                "velocity": {
                    "x": -7.0255279541015625,
                    "y": 0.011938116513192654,
                    "z": -0.06184500455856323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7364182472229,
                "transform": {
                    "location": {
                        "x": 214.6016387939453,
                        "y": 5555.3232421875,
                        "z": 365.6238098144531
                    },
                    "rotation": {
                        "roll": 0.004969101864844561,
                        "pitch": -1.0153485536575317,
                        "yaw": 87.78905487060547
                    }
                },
                "velocity": {
                    "x": 0.1743575781583786,
                    "y": 5.733589172363281,
                    "z": -0.04526761919260025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.365061283111572,
                "transform": {
                    "location": {
                        "x": 200.0721893310547,
                        "y": 5583.54541015625,
                        "z": 365.4510192871094
                    },
                    "rotation": {
                        "roll": 0.0007141091045923531,
                        "pitch": 0.018714716657996178,
                        "yaw": -0.1407470703125
                    }
                },
                "velocity": {
                    "x": 5.365045070648193,
                    "y": -0.013156493194401264,
                    "z": 0.0012242794036865234
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.052832126617432,
                "transform": {
                    "location": {
                        "x": 201.58116149902344,
                        "y": 5586.79248046875,
                        "z": 365.45556640625
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.01161132100969553,
                        "yaw": -0.14886474609375
                    }
                },
                "velocity": {
                    "x": 5.052815914154053,
                    "y": -0.012523791752755642,
                    "z": 0.0026006412226706743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001780811115168035,
                "transform": {
                    "location": {
                        "x": 231.05593872070312,
                        "y": 5576.7451171875,
                        "z": 365.49322509765625
                    },
                    "rotation": {
                        "roll": 0.002320785541087389,
                        "pitch": -0.14785993099212646,
                        "yaw": 177.72653198242188
                    }
                },
                "velocity": {
                    "x": -0.0009537070873193443,
                    "y": -4.993799393560039e-06,
                    "z": 0.0015038970159366727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001482154824770987,
                "transform": {
                    "location": {
                        "x": 230.5370330810547,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0025939932093024254,
                        "pitch": -0.240108460187912,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 0.00048213585978373885,
                    "y": -7.129401637939736e-05,
                    "z": 0.0013997304486110806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.3153977394104,
                "transform": {
                    "location": {
                        "x": 215.16859436035156,
                        "y": 5574.37060546875,
                        "z": 365.4748229980469
                    },
                    "rotation": {
                        "roll": -0.023773161694407463,
                        "pitch": -0.363092839717865,
                        "yaw": 88.43726348876953
                    }
                },
                "velocity": {
                    "x": 0.17910794913768768,
                    "y": 6.312798500061035,
                    "z": -0.02725510485470295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.507577419281006,
                "transform": {
                    "location": {
                        "x": 213.9892120361328,
                        "y": 5637.65966796875,
                        "z": 365.0032653808594
                    },
                    "rotation": {
                        "roll": 0.04009679704904556,
                        "pitch": 0.5928467512130737,
                        "yaw": -78.92687225341797
                    }
                },
                "velocity": {
                    "x": 1.3985248804092407,
                    "y": -7.3759446144104,
                    "z": 0.0573435015976429
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.010800838470459,
                "transform": {
                    "location": {
                        "x": 216.42257690429688,
                        "y": 5622.16796875,
                        "z": 365.1158447265625
                    },
                    "rotation": {
                        "roll": 0.029574327170848846,
                        "pitch": 0.46733516454696655,
                        "yaw": -83.50447082519531
                    }
                },
                "velocity": {
                    "x": 0.4582147002220154,
                    "y": -3.9844348430633545,
                    "z": 0.02904665842652321
                },
                "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": 0.03372303768992424,
        "expert_target_speed": 0,
        "target_point": [
            20.41083428509672,
            -9.914551743556457
        ],
        "target_point_next": [
            18.883075999980623,
            -60.89165848069486
        ]
    },
    "270": {
        "acceleration": [
            -0.0067424774169921875,
            0.8138835430145264,
            -0.00415019690990448
        ],
        "angular_velocity": [
            -0.18235857784748077,
            -0.05942174792289734,
            -1.3265594244003296
        ],
        "forward_vector": [
            0.02652755193412304,
            -0.9996377825737,
            0.00453959358856082
        ],
        "right_vector": [
            0.9996480941772461,
            0.026528440415859222,
            0.00013528716226574033
        ],
        "location": [
            218.0359344482422,
            5600.63134765625,
            365.2691345214844
        ],
        "rotation": [
            -0.007751463912427425,
            0.26010042428970337,
            -88.47988891601562
        ],
        "velocity": [
            0.018432484939694405,
            -0.7525468468666077,
            0.005676317028701305
        ],
        "speed": 0.7527725507946776,
        "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": 24.104928970336914,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.536865234375,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                8.657291618874297e-05,
                -7.591798930661753e-05,
                0.0010190606117248535
            ],
            "speed_kmh": 0.0036919626919942094,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3883435726165771,
                "transform": {
                    "location": {
                        "x": 264.5752258300781,
                        "y": 5576.7861328125,
                        "z": 365.8121032714844
                    },
                    "rotation": {
                        "roll": -0.006713866256177425,
                        "pitch": -0.8599822521209717,
                        "yaw": 179.92796325683594
                    }
                },
                "velocity": {
                    "x": -1.3879154920578003,
                    "y": -0.026040319353342056,
                    "z": 0.022587327286601067
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.05821983516216278,
                "transform": {
                    "location": {
                        "x": 264.7351379394531,
                        "y": 5580.03857421875,
                        "z": 365.83160400390625
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.9263580441474915,
                        "yaw": 179.86219787597656
                    }
                },
                "velocity": {
                    "x": -0.0009763337438926101,
                    "y": -4.220950722810812e-05,
                    "z": 0.05821163207292557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.18702697753906,
                        "y": 5521.857421875,
                        "z": 365.89471435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.954461574554443,
                "transform": {
                    "location": {
                        "x": 179.12625122070312,
                        "y": 5583.576171875,
                        "z": 365.6021423339844
                    },
                    "rotation": {
                        "roll": -0.004974364768713713,
                        "pitch": -0.7764285206794739,
                        "yaw": 0.08391159772872925
                    }
                },
                "velocity": {
                    "x": 7.9536967277526855,
                    "y": 0.004714525770395994,
                    "z": -0.11019553989171982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.516324520111084,
                "transform": {
                    "location": {
                        "x": 183.27984619140625,
                        "y": 5586.82666015625,
                        "z": 365.54638671875
                    },
                    "rotation": {
                        "roll": 0.004994665272533894,
                        "pitch": -0.7739218473434448,
                        "yaw": -0.02340698055922985
                    }
                },
                "velocity": {
                    "x": 7.515780448913574,
                    "y": -0.005948496982455254,
                    "z": -0.09021950513124466
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.554475784301758,
                "transform": {
                    "location": {
                        "x": 243.83311462402344,
                        "y": 5576.74169921875,
                        "z": 365.5574645996094
                    },
                    "rotation": {
                        "roll": 0.0004888703115284443,
                        "pitch": -0.4919170141220093,
                        "yaw": 179.90420532226562
                    }
                },
                "velocity": {
                    "x": -6.554230690002441,
                    "y": 0.012937403284013271,
                    "z": -0.055158112198114395
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.5714592933654785,
                "transform": {
                    "location": {
                        "x": 243.82569885253906,
                        "y": 5579.9921875,
                        "z": 365.6025695800781
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.5091837644577026,
                        "yaw": 179.926025390625
                    }
                },
                "velocity": {
                    "x": -6.571207046508789,
                    "y": 0.010367495939135551,
                    "z": -0.056609027087688446
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.21672248840332,
                "transform": {
                    "location": {
                        "x": 214.6492156982422,
                        "y": 5556.8037109375,
                        "z": 365.607421875
                    },
                    "rotation": {
                        "roll": 0.002901762491092086,
                        "pitch": -0.424134224653244,
                        "yaw": 87.964599609375
                    }
                },
                "velocity": {
                    "x": 0.1955222487449646,
                    "y": 6.213458061218262,
                    "z": -0.048525553196668625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.0029778480529785,
                "transform": {
                    "location": {
                        "x": 201.3661651611328,
                        "y": 5583.54248046875,
                        "z": 365.4513854980469
                    },
                    "rotation": {
                        "roll": 0.001649817219004035,
                        "pitch": 0.0363570936024189,
                        "yaw": -0.1479797214269638
                    }
                },
                "velocity": {
                    "x": 5.002945899963379,
                    "y": -0.017689015716314316,
                    "z": 0.0021910476498305798
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2577977180480957,
                "transform": {
                    "location": {
                        "x": 202.7333526611328,
                        "y": 5586.7890625,
                        "z": 365.4557800292969
                    },
                    "rotation": {
                        "roll": 0.00027373796910978854,
                        "pitch": -0.1856376975774765,
                        "yaw": -0.15106201171875
                    }
                },
                "velocity": {
                    "x": 3.257786750793457,
                    "y": -0.008254787884652615,
                    "z": 0.0018594074063003063
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005146817420609295,
                "transform": {
                    "location": {
                        "x": 231.0564727783203,
                        "y": 5576.7451171875,
                        "z": 365.49371337890625
                    },
                    "rotation": {
                        "roll": 0.00591409532353282,
                        "pitch": -0.2059643417596817,
                        "yaw": 177.72653198242188
                    }
                },
                "velocity": {
                    "x": -0.0005047020968049765,
                    "y": -4.458886542124674e-05,
                    "z": -9.047065395861864e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010255451779812574,
                "transform": {
                    "location": {
                        "x": 230.536865234375,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": -0.22481566667556763,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 8.657291618874297e-05,
                    "y": -7.591798930661753e-05,
                    "z": 0.0010190606117248535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002498626708984,
                "transform": {
                    "location": {
                        "x": 215.21546936035156,
                        "y": 5576.21240234375,
                        "z": 365.46209716796875
                    },
                    "rotation": {
                        "roll": -0.0812988430261612,
                        "pitch": -0.4833041727542877,
                        "yaw": 88.51606750488281
                    }
                },
                "velocity": {
                    "x": 0.19037140905857086,
                    "y": 7.999941349029541,
                    "z": -0.06836262345314026
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.358770370483398,
                "transform": {
                    "location": {
                        "x": 214.306640625,
                        "y": 5635.9560546875,
                        "z": 365.01617431640625
                    },
                    "rotation": {
                        "roll": 0.023806966841220856,
                        "pitch": 0.3468643128871918,
                        "yaw": -79.23673248291016
                    }
                },
                "velocity": {
                    "x": 1.1508800983428955,
                    "y": -6.253571510314941,
                    "z": 0.047777432948350906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9367685317993164,
                "transform": {
                    "location": {
                        "x": 216.5193634033203,
                        "y": 5621.32666015625,
                        "z": 365.12322998046875
                    },
                    "rotation": {
                        "roll": 0.01060113962739706,
                        "pitch": 0.1266043782234192,
                        "yaw": -83.46293640136719
                    }
                },
                "velocity": {
                    "x": 0.3366297483444214,
                    "y": -2.9173336029052734,
                    "z": 0.021303690969944
                },
                "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": 0.03416547179222107,
        "expert_target_speed": 0,
        "target_point": [
            20.202222511897947,
            -9.892003081118395
        ],
        "target_point_next": [
            18.72682825175177,
            -60.87065222411226
        ]
    },
    "275": {
        "acceleration": [
            -0.031184926629066467,
            0.36073923110961914,
            -0.007000351324677467
        ],
        "angular_velocity": [
            -0.16707034409046173,
            0.031621694564819336,
            0.4288594424724579
        ],
        "forward_vector": [
            0.026865489780902863,
            -0.999623715877533,
            0.005532712675631046
        ],
        "right_vector": [
            0.9996390342712402,
            0.02686658687889576,
            0.00012410152703523636
        ],
        "location": [
            218.0408477783203,
            5600.46240234375,
            365.2701110839844
        ],
        "rotation": [
            -0.00711060268804431,
            0.31700271368026733,
            -88.46051025390625
        ],
        "velocity": [
            0.01737850345671177,
            -0.6225845813751221,
            0.005350579973310232
        ],
        "speed": 0.6228270814186158,
        "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": 23.95803451538086,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                5.926279118284583e-05,
                0.00010187422594754025,
                0.0009764156420715153
            ],
            "speed_kmh": 0.003540610418229328,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 168.49905395507812,
                        "y": 5586.7705078125,
                        "z": 365.9401550292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -1.789751813419116e-08,
                    "y": 4.300251474353978e-11,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7601388692855835,
                "transform": {
                    "location": {
                        "x": 264.21343994140625,
                        "y": 5576.78369140625,
                        "z": 365.8108825683594
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": -0.8850695490837097,
                        "yaw": -179.99989318847656
                    }
                },
                "velocity": {
                    "x": -1.7599772214889526,
                    "y": -0.007464982569217682,
                    "z": -0.022658880800008774
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.497177839279175,
                "transform": {
                    "location": {
                        "x": 264.3875732421875,
                        "y": 5580.03466796875,
                        "z": 365.83160400390625
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -1.1302459239959717,
                        "yaw": -179.9808349609375
                    }
                },
                "velocity": {
                    "x": -2.4967830181121826,
                    "y": -0.012517300434410572,
                    "z": -0.04260731488466263
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.07061767578125,
                        "y": 5525.28857421875,
                        "z": 365.8645935058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.971189975738525,
                "transform": {
                    "location": {
                        "x": 181.11045837402344,
                        "y": 5583.5771484375,
                        "z": 365.5762939453125
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.7269847989082336,
                        "yaw": 0.04009493440389633
                    }
                },
                "velocity": {
                    "x": 7.970575332641602,
                    "y": 0.0036363352555781603,
                    "z": -0.0989234447479248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.314629554748535,
                "transform": {
                    "location": {
                        "x": 185.120849609375,
                        "y": 5586.82470703125,
                        "z": 365.5264892578125
                    },
                    "rotation": {
                        "roll": 0.004078873433172703,
                        "pitch": -0.6608344316482544,
                        "yaw": -0.0520019456744194
                    }
                },
                "velocity": {
                    "x": 7.314270496368408,
                    "y": -0.00814164150506258,
                    "z": -0.0720273107290268
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.8451144695281982,
                "transform": {
                    "location": {
                        "x": 242.51577758789062,
                        "y": 5576.744140625,
                        "z": 365.5480651855469
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.6716329455375671,
                        "yaw": 179.89256286621094
                    }
                },
                "velocity": {
                    "x": -2.845020055770874,
                    "y": 0.005559158977121115,
                    "z": -0.022499579936265945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3570895195007324,
                "transform": {
                    "location": {
                        "x": 242.59475708007812,
                        "y": 5579.994140625,
                        "z": 365.5949401855469
                    },
                    "rotation": {
                        "roll": -0.0035705557093024254,
                        "pitch": -0.8207018375396729,
                        "yaw": 179.9125213623047
                    }
                },
                "velocity": {
                    "x": -2.3569934368133545,
                    "y": 0.004503298085182905,
                    "z": -0.020789669826626778
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.849483013153076,
                "transform": {
                    "location": {
                        "x": 214.703125,
                        "y": 5558.49072265625,
                        "z": 365.59228515625
                    },
                    "rotation": {
                        "roll": -0.006256117485463619,
                        "pitch": -0.19940052926540375,
                        "yaw": 88.2152328491211
                    }
                },
                "velocity": {
                    "x": 0.2086043655872345,
                    "y": 6.846096038818359,
                    "z": -0.05364333465695381
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.637467861175537,
                "transform": {
                    "location": {
                        "x": 202.6063232421875,
                        "y": 5583.53662109375,
                        "z": 365.4519958496094
                    },
                    "rotation": {
                        "roll": 0.0013994742184877396,
                        "pitch": 0.029875244945287704,
                        "yaw": -0.22567744553089142
                    }
                },
                "velocity": {
                    "x": 4.637394428253174,
                    "y": -0.025999750941991806,
                    "z": 0.002330140909180045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0045354836620390415,
                "transform": {
                    "location": {
                        "x": 202.9978790283203,
                        "y": 5586.78857421875,
                        "z": 365.4557189941406
                    },
                    "rotation": {
                        "roll": 4.089446156285703e-05,
                        "pitch": -0.42657262086868286,
                        "yaw": -0.1542968899011612
                    }
                },
                "velocity": {
                    "x": -0.0039892420172691345,
                    "y": 2.0508157831500284e-05,
                    "z": 0.0021578087471425533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.356171797960997e-05,
                "transform": {
                    "location": {
                        "x": 231.05679321289062,
                        "y": 5576.7451171875,
                        "z": 365.4939270019531
                    },
                    "rotation": {
                        "roll": 0.007687853649258614,
                        "pitch": -0.23506778478622437,
                        "yaw": 177.72653198242188
                    }
                },
                "velocity": {
                    "x": 1.39153189593344e-05,
                    "y": -5.882037839910481e-06,
                    "z": -6.174024747451767e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009835029486566782,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 5.926279118284583e-05,
                    "y": 0.00010187422594754025,
                    "z": 0.0009764156420715153
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.969573974609375,
                "transform": {
                    "location": {
                        "x": 215.26663208007812,
                        "y": 5578.33935546875,
                        "z": 365.44659423828125
                    },
                    "rotation": {
                        "roll": -0.09750361740589142,
                        "pitch": -0.6571939587593079,
                        "yaw": 88.63323211669922
                    }
                },
                "velocity": {
                    "x": 0.21031634509563446,
                    "y": 8.966754913330078,
                    "z": -0.07956434786319733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1499679684638977,
                "transform": {
                    "location": {
                        "x": 214.45703125,
                        "y": 5635.138671875,
                        "z": 365.021240234375
                    },
                    "rotation": {
                        "roll": 0.00796622596681118,
                        "pitch": -0.3295292854309082,
                        "yaw": -79.84001159667969
                    }
                },
                "velocity": {
                    "x": 0.028689652681350708,
                    "y": -0.14719434082508087,
                    "z": 0.0010588931618258357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.568070650100708,
                "transform": {
                    "location": {
                        "x": 216.59718322753906,
                        "y": 5620.65283203125,
                        "z": 365.1279296875
                    },
                    "rotation": {
                        "roll": 0.004152241628617048,
                        "pitch": 0.17917634546756744,
                        "yaw": -83.44898986816406
                    }
                },
                "velocity": {
                    "x": 0.294433057308197,
                    "y": -2.551063060760498,
                    "z": 0.01930868998169899
                },
                "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": 0.03473410755395889,
        "expert_target_speed": 10.0,
        "target_point": [
            20.02986999927086,
            -9.899186570680715
        ],
        "target_point_next": [
            18.537288659265364,
            -60.87733539555283
        ]
    },
    "280": {
        "acceleration": [
            0.01814465969800949,
            -0.3891026973724365,
            0.008126646280288696
        ],
        "angular_velocity": [
            -0.26619961857795715,
            0.04262763634324074,
            -0.18452918529510498
        ],
        "forward_vector": [
            0.027443135157227516,
            -0.9996015429496765,
            0.006608438212424517
        ],
        "right_vector": [
            0.9996233582496643,
            0.027444088831543922,
            5.3794585255673155e-05
        ],
        "location": [
            218.04624938964844,
            5600.30126953125,
            365.27099609375
        ],
        "rotation": [
            -0.003082270035520196,
            0.378638356924057,
            -88.4273910522461
        ],
        "velocity": [
            0.020788902416825294,
            -0.6592950224876404,
            0.0056195068173110485
        ],
        "speed": 0.6596226990793105,
        "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": 23.817869186401367,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -5.633271939586848e-06,
                -8.584527677157894e-06,
                0.0008385450346395373
            ],
            "speed_kmh": 0.0030189884250703966,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13314932584762573,
                "transform": {
                    "location": {
                        "x": 168.49710083007812,
                        "y": 5586.7705078125,
                        "z": 365.6861572265625
                    },
                    "rotation": {
                        "roll": 1.338422293883923e-06,
                        "pitch": -0.7926024198532104,
                        "yaw": -0.1376953125
                    }
                },
                "velocity": {
                    "x": 0.0018944009207189083,
                    "y": -6.915875474078348e-06,
                    "z": 0.1331358402967453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.266169548034668,
                "transform": {
                    "location": {
                        "x": 263.573974609375,
                        "y": 5576.78125,
                        "z": 365.80084228515625
                    },
                    "rotation": {
                        "roll": -0.006500243209302425,
                        "pitch": -0.8493613004684448,
                        "yaw": -179.7964630126953
                    }
                },
                "velocity": {
                    "x": -3.2656567096710205,
                    "y": -0.025476595386862755,
                    "z": -0.051958002150058746
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6346800327301025,
                "transform": {
                    "location": {
                        "x": 263.61328125,
                        "y": 5580.0302734375,
                        "z": 365.8177795410156
                    },
                    "rotation": {
                        "roll": -0.0028381345327943563,
                        "pitch": -1.0639317035675049,
                        "yaw": -179.8614044189453
                    }
                },
                "velocity": {
                    "x": -3.6340556144714355,
                    "y": -0.02713715098798275,
                    "z": -0.06166287139058113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 213.99124145507812,
                        "y": 5528.5478515625,
                        "z": 365.8362731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7128777503967285,
                "transform": {
                    "location": {
                        "x": 183.0751495361328,
                        "y": 5583.576171875,
                        "z": 365.551513671875
                    },
                    "rotation": {
                        "roll": -0.002838134765625,
                        "pitch": -0.65865558385849,
                        "yaw": -0.0245361328125
                    }
                },
                "velocity": {
                    "x": 7.712311267852783,
                    "y": -0.00787331722676754,
                    "z": -0.09315668046474457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.161395072937012,
                "transform": {
                    "location": {
                        "x": 186.9392852783203,
                        "y": 5586.822265625,
                        "z": 365.5082092285156
                    },
                    "rotation": {
                        "roll": 0.00282131414860487,
                        "pitch": -0.5138214230537415,
                        "yaw": -0.0758056491613388
                    }
                },
                "velocity": {
                    "x": 7.161061763763428,
                    "y": -0.010890552774071693,
                    "z": -0.06824956834316254
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8850077390670776,
                "transform": {
                    "location": {
                        "x": 242.32733154296875,
                        "y": 5576.7451171875,
                        "z": 365.54595947265625
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.6306723356246948,
                        "yaw": 179.88864135742188
                    }
                },
                "velocity": {
                    "x": -0.884979784488678,
                    "y": 0.00215862481854856,
                    "z": -0.006692209281027317
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7471961379051208,
                "transform": {
                    "location": {
                        "x": 242.4462432861328,
                        "y": 5579.99169921875,
                        "z": 365.59295654296875
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": -0.7185699939727783,
                        "yaw": 179.6942138671875
                    }
                },
                "velocity": {
                    "x": -0.7471780776977539,
                    "y": 0.0012633490841835737,
                    "z": -0.0050416374579072
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.857397079467773,
                "transform": {
                    "location": {
                        "x": 214.74179077148438,
                        "y": 5559.7587890625,
                        "z": 365.587646484375
                    },
                    "rotation": {
                        "roll": -0.003479019273072481,
                        "pitch": -0.8960524797439575,
                        "yaw": 88.28346252441406
                    }
                },
                "velocity": {
                    "x": 0.14445750415325165,
                    "y": 4.855099201202393,
                    "z": -0.03806747868657112
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0756096839904785,
                "transform": {
                    "location": {
                        "x": 203.55984497070312,
                        "y": 5583.53173828125,
                        "z": 365.4529113769531
                    },
                    "rotation": {
                        "roll": 0.0008788633858785033,
                        "pitch": 0.005033849272876978,
                        "yaw": -0.2747192084789276
                    }
                },
                "velocity": {
                    "x": 3.0755534172058105,
                    "y": -0.01845417730510235,
                    "z": 0.0023404883686453104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002532605081796646,
                "transform": {
                    "location": {
                        "x": 203.00030517578125,
                        "y": 5586.78857421875,
                        "z": 365.4562683105469
                    },
                    "rotation": {
                        "roll": 0.0005156044499017298,
                        "pitch": -0.07821249216794968,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": -0.00145038403570652,
                    "y": -0.00017148391634691507,
                    "z": 0.0020690741948783398
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.732999514089897e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.493896484375
                    },
                    "rotation": {
                        "roll": 0.006832795683294535,
                        "pitch": -0.23074427247047424,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": 4.145456477999687e-05,
                    "y": 2.134016358468216e-05,
                    "z": -8.139100827975199e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008386078989133239,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -5.633271939586848e-06,
                    "y": -8.584527677157894e-06,
                    "z": 0.0008385450346395373
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.868948936462402,
                "transform": {
                    "location": {
                        "x": 215.3184356689453,
                        "y": 5580.69873046875,
                        "z": 365.42425537109375
                    },
                    "rotation": {
                        "roll": -0.003967320546507835,
                        "pitch": -0.6234118342399597,
                        "yaw": 88.77466583251953
                    }
                },
                "velocity": {
                    "x": 0.1635662168264389,
                    "y": 9.867165565490723,
                    "z": -0.09184229373931885
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.203149676322937,
                "transform": {
                    "location": {
                        "x": 214.4840545654297,
                        "y": 5634.98779296875,
                        "z": 365.0233154296875
                    },
                    "rotation": {
                        "roll": 0.003239571349695325,
                        "pitch": 0.3100290894508362,
                        "yaw": -79.84022521972656
                    }
                },
                "velocity": {
                    "x": 0.21344876289367676,
                    "y": -1.1840300559997559,
                    "z": 0.009026383981108665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7568509578704834,
                "transform": {
                    "location": {
                        "x": 216.6707763671875,
                        "y": 5620.017578125,
                        "z": 365.1319580078125
                    },
                    "rotation": {
                        "roll": 0.003276633098721504,
                        "pitch": 0.3566861152648926,
                        "yaw": -83.42613220214844
                    }
                },
                "velocity": {
                    "x": 0.3170913755893707,
                    "y": -2.7384893894195557,
                    "z": 0.01887817308306694
                },
                "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": 0.028724972158670425,
        "expert_target_speed": 10.0,
        "target_point": [
            19.862888163354594,
            -9.911812908571362
        ],
        "target_point_next": [
            18.34065449457709,
            -60.889084916055076
        ]
    },
    "285": {
        "acceleration": [
            0.005777813494205475,
            -0.25521278381347656,
            -0.001016613095998764
        ],
        "angular_velocity": [
            -0.09241835027933121,
            -0.013145118951797485,
            0.1373039036989212
        ],
        "forward_vector": [
            0.027861954644322395,
            -0.9995802640914917,
            0.007933175191283226
        ],
        "right_vector": [
            0.9996117353439331,
            0.027863115072250366,
            3.568548709154129e-05
        ],
        "location": [
            218.05203247070312,
            5600.107421875,
            365.2721252441406
        ],
        "rotation": [
            -0.0020446921698749065,
            0.45454221963882446,
            -88.40337371826172
        ],
        "velocity": [
            0.02662176638841629,
            -0.8534600734710693,
            0.005607671570032835
        ],
        "speed": 0.8538751755701078,
        "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": 23.649978637695312,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.3725831422561896e-06,
                3.457610364421271e-05,
                0.0011581777362152934
            ],
            "speed_kmh": 0.004171300379056696,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 168.49124145507812,
                        "y": 5583.5205078125,
                        "z": 366.0283508300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -3.2250246917442382e-09,
                    "y": 7.748793794115638e-12,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13144232332706451,
                "transform": {
                    "location": {
                        "x": 168.49710083007812,
                        "y": 5586.7705078125,
                        "z": 365.7373046875
                    },
                    "rotation": {
                        "roll": -0.0002136231050826609,
                        "pitch": -0.7926912307739258,
                        "yaw": -0.137725830078125
                    }
                },
                "velocity": {
                    "x": 0.0018676179461181164,
                    "y": 6.717727228533477e-05,
                    "z": 0.1314290463924408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.522153377532959,
                "transform": {
                    "location": {
                        "x": 262.607421875,
                        "y": 5576.77734375,
                        "z": 365.78515625
                    },
                    "rotation": {
                        "roll": -0.01150512881577015,
                        "pitch": -0.8422237634658813,
                        "yaw": -179.47348022460938
                    }
                },
                "velocity": {
                    "x": -4.52144718170166,
                    "y": -0.03203044831752777,
                    "z": -0.07321711629629135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.782006740570068,
                "transform": {
                    "location": {
                        "x": 262.55389404296875,
                        "y": 5580.0234375,
                        "z": 365.80023193359375
                    },
                    "rotation": {
                        "roll": -0.004852294921875,
                        "pitch": -1.04265558719635,
                        "yaw": -179.74195861816406
                    }
                },
                "velocity": {
                    "x": -4.781284809112549,
                    "y": -0.03579737991094589,
                    "z": -0.07497088611125946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.647148132324219,
                "transform": {
                    "location": {
                        "x": 213.98898315429688,
                        "y": 5531.5380859375,
                        "z": 365.8117370605469
                    },
                    "rotation": {
                        "roll": 0.06548277288675308,
                        "pitch": -0.985650897026062,
                        "yaw": 89.38683319091797
                    }
                },
                "velocity": {
                    "x": 0.042809393256902695,
                    "y": 10.646574020385742,
                    "z": -0.10188189893960953
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.1450910568237305,
                "transform": {
                    "location": {
                        "x": 184.84202575683594,
                        "y": 5583.57470703125,
                        "z": 365.5306091308594
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": -0.4917325973510742,
                        "yaw": -0.02987670712172985
                    }
                },
                "velocity": {
                    "x": 6.144830703735352,
                    "y": -0.005950485356152058,
                    "z": -0.05623194947838783
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.686202526092529,
                "transform": {
                    "location": {
                        "x": 188.6337432861328,
                        "y": 5586.81982421875,
                        "z": 365.4941711425781
                    },
                    "rotation": {
                        "roll": 0.0009689192520454526,
                        "pitch": -0.6791939735412598,
                        "yaw": -0.0904541015625
                    }
                },
                "velocity": {
                    "x": 5.686056613922119,
                    "y": -0.009729208424687386,
                    "z": -0.0395515002310276
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.233381748199463,
                "transform": {
                    "location": {
                        "x": 242.02975463867188,
                        "y": 5576.74560546875,
                        "z": 365.5428466796875
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.4872110188007355,
                        "yaw": 179.8011474609375
                    }
                },
                "velocity": {
                    "x": -1.2333306074142456,
                    "y": 0.003040870651602745,
                    "z": -0.010812473483383656
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6247841119766235,
                "transform": {
                    "location": {
                        "x": 242.1294403076172,
                        "y": 5579.9931640625,
                        "z": 365.58807373046875
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.4464757740497589,
                        "yaw": 179.6949920654297
                    }
                },
                "velocity": {
                    "x": -1.6247245073318481,
                    "y": 0.004115867894142866,
                    "z": -0.01330022793263197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.070576190948486,
                "transform": {
                    "location": {
                        "x": 214.7791290283203,
                        "y": 5561.02099609375,
                        "z": 365.57452392578125
                    },
                    "rotation": {
                        "roll": -0.0007019041804596782,
                        "pitch": -0.45612001419067383,
                        "yaw": 88.28644561767578
                    }
                },
                "velocity": {
                    "x": 0.1515728235244751,
                    "y": 5.068170547485352,
                    "z": -0.03765217587351799
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.19175538420677185,
                "transform": {
                    "location": {
                        "x": 204.08078002929688,
                        "y": 5583.529296875,
                        "z": 365.45343017578125
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": -0.019288452342152596,
                        "yaw": -0.3405456244945526
                    }
                },
                "velocity": {
                    "x": 0.19174867868423462,
                    "y": -0.0003486861241981387,
                    "z": 0.0015639686025679111
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014537996612489223,
                "transform": {
                    "location": {
                        "x": 203.00100708007812,
                        "y": 5586.78857421875,
                        "z": 365.4563903808594
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.011563509702682495,
                        "yaw": -0.154327392578125
                    }
                },
                "velocity": {
                    "x": -0.00032849880517460406,
                    "y": 0.00017355618183501065,
                    "z": 0.0014055249048396945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001089601282728836,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.9343196981935762e-05,
                    "y": -2.627612957439851e-05,
                    "z": -0.00010396016295999289
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011586945038288832,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.3725831422561896e-06,
                    "y": 3.457610364421271e-05,
                    "z": 0.0011581777362152934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.738362312316895,
                "transform": {
                    "location": {
                        "x": 215.36038208007812,
                        "y": 5583.279296875,
                        "z": 365.4011535644531
                    },
                    "rotation": {
                        "roll": 0.007691266015172005,
                        "pitch": -0.5793434381484985,
                        "yaw": 89.09229278564453
                    }
                },
                "velocity": {
                    "x": 0.158138245344162,
                    "y": 10.736848831176758,
                    "z": -0.08656637370586395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.158799648284912,
                "transform": {
                    "location": {
                        "x": 214.55859375,
                        "y": 5634.5712890625,
                        "z": 365.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0015054529067128897,
                        "pitch": 0.5252619981765747,
                        "yaw": -79.84664154052734
                    }
                },
                "velocity": {
                    "x": 0.3806106448173523,
                    "y": -2.124922752380371,
                    "z": 0.01595292054116726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6042542457580566,
                "transform": {
                    "location": {
                        "x": 216.75303649902344,
                        "y": 5619.3046875,
                        "z": 365.13677978515625
                    },
                    "rotation": {
                        "roll": 0.0035909938160330057,
                        "pitch": 0.40267378091812134,
                        "yaw": -83.42564392089844
                    }
                },
                "velocity": {
                    "x": 0.2991958260536194,
                    "y": -2.5869407653808594,
                    "z": 0.018950538709759712
                },
                "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": 0.0283112283796072,
        "expert_target_speed": 10.0,
        "target_point": [
            19.664829663041747,
            -9.920454852963623
        ],
        "target_point_next": [
            18.121389894718444,
            -60.89708920978341
        ]
    },
    "290": {
        "acceleration": [
            0.03257229924201965,
            -0.7519984245300293,
            -0.004679681733250618
        ],
        "angular_velocity": [
            -0.023265434429049492,
            -0.011713368818163872,
            0.20286767184734344
        ],
        "forward_vector": [
            0.028398294001817703,
            -0.9995612502098083,
            0.008416552096605301
        ],
        "right_vector": [
            0.9995966553688049,
            0.028399590402841568,
            3.4620050428202376e-05
        ],
        "location": [
            218.05967712402344,
            5599.86669921875,
            365.2738342285156
        ],
        "rotation": [
            -0.0019836530555039644,
            0.48223865032196045,
            -88.37261962890625
        ],
        "velocity": [
            0.033862169831991196,
            -1.054679274559021,
            0.00594998337328434
        ],
        "speed": 1.0552227341798857,
        "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": 23.441802978515625,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.103259637602605e-05,
                3.40041660820134e-05,
                0.0007301409495994449
            ],
            "speed_kmh": 0.0026316561608183513,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5434402227401733,
                "transform": {
                    "location": {
                        "x": 168.48780822753906,
                        "y": 5583.5205078125,
                        "z": 365.6603698730469
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.8066726326942444,
                        "yaw": -0.137725830078125
                    }
                },
                "velocity": {
                    "x": -0.007486209738999605,
                    "y": -0.00011923813872272149,
                    "z": -0.5433886051177979
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7742185592651367,
                "transform": {
                    "location": {
                        "x": 168.62234497070312,
                        "y": 5586.77197265625,
                        "z": 365.7494812011719
                    },
                    "rotation": {
                        "roll": 0.005258727818727493,
                        "pitch": -0.940517008304596,
                        "yaw": -0.127197265625
                    }
                },
                "velocity": {
                    "x": 1.7740334272384644,
                    "y": 0.019216526299715042,
                    "z": -0.01695471815764904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.651120185852051,
                "transform": {
                    "location": {
                        "x": 261.3289794921875,
                        "y": 5576.76806640625,
                        "z": 365.7657775878906
                    },
                    "rotation": {
                        "roll": -0.011535643599927425,
                        "pitch": -0.8130452036857605,
                        "yaw": -179.44830322265625
                    }
                },
                "velocity": {
                    "x": -5.65031623840332,
                    "y": -0.04647323116660118,
                    "z": -0.08323328197002411
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2823686599731445,
                "transform": {
                    "location": {
                        "x": 261.2585754394531,
                        "y": 5580.01416015625,
                        "z": 365.78045654296875
                    },
                    "rotation": {
                        "roll": -0.00665283203125,
                        "pitch": -0.9376824498176575,
                        "yaw": -179.66433715820312
                    }
                },
                "velocity": {
                    "x": -5.281654357910156,
                    "y": -0.03935623914003372,
                    "z": -0.07744015753269196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.62720775604248,
                "transform": {
                    "location": {
                        "x": 214.02085876464844,
                        "y": 5534.197265625,
                        "z": 365.7860107421875
                    },
                    "rotation": {
                        "roll": 0.16636720299720764,
                        "pitch": -0.7997058033943176,
                        "yaw": 89.05744171142578
                    }
                },
                "velocity": {
                    "x": 0.19821245968341827,
                    "y": 10.624920845031738,
                    "z": -0.09644097834825516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.052074909210205,
                "transform": {
                    "location": {
                        "x": 186.3449249267578,
                        "y": 5583.5732421875,
                        "z": 365.5169372558594
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": -0.48309242725372314,
                        "yaw": -0.088775634765625
                    }
                },
                "velocity": {
                    "x": 6.05181360244751,
                    "y": -0.01188254076987505,
                    "z": -0.054961469024419785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005543367937207222,
                "transform": {
                    "location": {
                        "x": 189.20733642578125,
                        "y": 5586.81884765625,
                        "z": 365.4901123046875
                    },
                    "rotation": {
                        "roll": 5.636678179143928e-05,
                        "pitch": -1.4325227737426758,
                        "yaw": -0.0952148362994194
                    }
                },
                "velocity": {
                    "x": -0.005306625738739967,
                    "y": -0.00013683829456567764,
                    "z": 0.0015968483639881015
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.261679172515869,
                "transform": {
                    "location": {
                        "x": 241.61624145507812,
                        "y": 5576.7451171875,
                        "z": 365.5389404296875
                    },
                    "rotation": {
                        "roll": 0.0006743758567608893,
                        "pitch": -0.42800694704055786,
                        "yaw": 179.77706909179688
                    }
                },
                "velocity": {
                    "x": -2.2615866661071777,
                    "y": 0.005431482568383217,
                    "z": -0.019728178158402443
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.119128465652466,
                "transform": {
                    "location": {
                        "x": 241.61781311035156,
                        "y": 5579.994140625,
                        "z": 365.5837707519531
                    },
                    "rotation": {
                        "roll": 0.00046950471005402505,
                        "pitch": -0.41845834255218506,
                        "yaw": 179.7552032470703
                    }
                },
                "velocity": {
                    "x": -2.119056463241577,
                    "y": 0.0051595186814665794,
                    "z": -0.016672125086188316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.873803615570068,
                "transform": {
                    "location": {
                        "x": 214.8202362060547,
                        "y": 5562.38427734375,
                        "z": 365.5622253417969
                    },
                    "rotation": {
                        "roll": -0.0011291529517620802,
                        "pitch": -0.24902185797691345,
                        "yaw": 88.31382751464844
                    }
                },
                "velocity": {
                    "x": 0.1744694709777832,
                    "y": 5.871028900146484,
                    "z": -0.0463927686214447
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013134097680449486,
                "transform": {
                    "location": {
                        "x": 204.08108520507812,
                        "y": 5583.529296875,
                        "z": 365.4532470703125
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.01299784891307354,
                        "yaw": -0.340972900390625
                    }
                },
                "velocity": {
                    "x": -4.5779175707139075e-05,
                    "y": 2.7377187507227063e-05,
                    "z": 0.0013123261742293835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012857435503974557,
                "transform": {
                    "location": {
                        "x": 203.0011749267578,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.024199359118938446,
                        "yaw": -0.1543274074792862
                    }
                },
                "velocity": {
                    "x": -0.00010807988292071968,
                    "y": 2.152009983547032e-05,
                    "z": 0.0012810120824724436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00031419360311701894,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -8.82623680809047e-06,
                    "y": 1.3576352102973033e-05,
                    "z": -0.0003137760504614562
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007310156361199915,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.103259637602605e-05,
                    "y": 3.40041660820134e-05,
                    "z": 0.0007301409495994449
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.583518981933594,
                "transform": {
                    "location": {
                        "x": 215.39756774902344,
                        "y": 5586.07421875,
                        "z": 365.3796081542969
                    },
                    "rotation": {
                        "roll": 0.019378965720534325,
                        "pitch": -0.47988224029541016,
                        "yaw": 89.30713653564453
                    }
                },
                "velocity": {
                    "x": 0.08943279087543488,
                    "y": 11.58287525177002,
                    "z": -0.08319845795631409
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6342661380767822,
                "transform": {
                    "location": {
                        "x": 214.68600463867188,
                        "y": 5633.8603515625,
                        "z": 365.0325012207031
                    },
                    "rotation": {
                        "roll": 0.0013839461607858539,
                        "pitch": 0.6381309032440186,
                        "yaw": -79.83619689941406
                    }
                },
                "velocity": {
                    "x": 0.6421067714691162,
                    "y": -3.576995372772217,
                    "z": 0.02632194384932518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.006094217300415,
                "transform": {
                    "location": {
                        "x": 216.81507873535156,
                        "y": 5618.75732421875,
                        "z": 365.1415100097656
                    },
                    "rotation": {
                        "roll": 0.027363628149032593,
                        "pitch": 0.22098392248153687,
                        "yaw": -83.4593505859375
                    }
                },
                "velocity": {
                    "x": 0.19840876758098602,
                    "y": -1.9962093830108643,
                    "z": 0.014001082628965378
                },
                "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": 0.023259077221155167,
        "expert_target_speed": 10.0,
        "target_point": [
            19.41866588222604,
            -9.931801307820468
        ],
        "target_point_next": [
            17.84789809526517,
            -60.90760091142442
        ]
    },
    "295": {
        "acceleration": [
            0.0062612444162368774,
            -0.5595517158508301,
            0.006772037595510483
        ],
        "angular_velocity": [
            0.0504816435277462,
            0.026200860738754272,
            0.08634629845619202
        ],
        "forward_vector": [
            0.028863590210676193,
            -0.99954754114151,
            0.00845922902226448
        ],
        "right_vector": [
            0.9995833039283752,
            0.02886468917131424,
            7.98934979684418e-06
        ],
        "location": [
            218.06890869140625,
            5599.580078125,
            365.27569580078125
        ],
        "rotation": [
            -0.000457772403024137,
            0.4846838712692261,
            -88.345947265625
        ],
        "velocity": [
            0.03828413411974907,
            -1.2211045026779175,
            0.007831821218132973
        ],
        "speed": 1.2217044983896814,
        "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": 23.194690704345703,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                3.1225568818626925e-05,
                9.610682172933593e-05,
                0.0009829229675233364
            ],
            "speed_kmh": 0.0035571736760677463,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.40553346276283264,
                "transform": {
                    "location": {
                        "x": 168.4883575439453,
                        "y": 5583.5205078125,
                        "z": 365.6908264160156
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.806399405002594,
                        "yaw": -0.1377868801355362
                    }
                },
                "velocity": {
                    "x": 0.005664381664246321,
                    "y": 5.008718653698452e-05,
                    "z": 0.40549391508102417
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.179933786392212,
                "transform": {
                    "location": {
                        "x": 169.27484130859375,
                        "y": 5586.77783203125,
                        "z": 365.74017333984375
                    },
                    "rotation": {
                        "roll": 0.0010612604673951864,
                        "pitch": -0.9530913829803467,
                        "yaw": 0.07419974356889725
                    }
                },
                "velocity": {
                    "x": 3.179381847381592,
                    "y": 0.035973742604255676,
                    "z": -0.04708137363195419
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.004220008850098,
                "transform": {
                    "location": {
                        "x": 259.5529479980469,
                        "y": 5576.7529296875,
                        "z": 365.7384948730469
                    },
                    "rotation": {
                        "roll": -0.01043701171875,
                        "pitch": -0.6755944490432739,
                        "yaw": -179.51022338867188
                    }
                },
                "velocity": {
                    "x": -8.003116607666016,
                    "y": -0.06523840874433517,
                    "z": -0.11576435714960098
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.991868019104004,
                "transform": {
                    "location": {
                        "x": 259.8332824707031,
                        "y": 5580.00341796875,
                        "z": 365.7587890625
                    },
                    "rotation": {
                        "roll": -0.006866454612463713,
                        "pitch": -0.8764020204544067,
                        "yaw": -179.65968322753906
                    }
                },
                "velocity": {
                    "x": -5.991023540496826,
                    "y": -0.04550766944885254,
                    "z": -0.08969417959451675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.637110710144043,
                "transform": {
                    "location": {
                        "x": 214.0779571533203,
                        "y": 5536.85693359375,
                        "z": 365.76202392578125
                    },
                    "rotation": {
                        "roll": 0.12643714249134064,
                        "pitch": -0.5899302363395691,
                        "yaw": 88.64080047607422
                    }
                },
                "velocity": {
                    "x": 0.2600424587726593,
                    "y": 10.633537292480469,
                    "z": -0.09159757196903229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.598697662353516,
                "transform": {
                    "location": {
                        "x": 187.93624877929688,
                        "y": 5583.56982421875,
                        "z": 365.5030517578125
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": -0.5103995203971863,
                        "yaw": -0.0726013109087944
                    }
                },
                "velocity": {
                    "x": 6.598458290100098,
                    "y": -0.011175453662872314,
                    "z": -0.055061791092157364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8115661144256592,
                "transform": {
                    "location": {
                        "x": 189.4742889404297,
                        "y": 5586.81787109375,
                        "z": 365.4889221191406
                    },
                    "rotation": {
                        "roll": 0.0004507791600190103,
                        "pitch": -0.4376511871814728,
                        "yaw": -0.088470458984375
                    }
                },
                "velocity": {
                    "x": 1.8115278482437134,
                    "y": -0.00345220766030252,
                    "z": -0.011250896379351616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5584777593612671,
                "transform": {
                    "location": {
                        "x": 241.27256774902344,
                        "y": 5576.7451171875,
                        "z": 365.5368957519531
                    },
                    "rotation": {
                        "roll": 0.0013179014204069972,
                        "pitch": -0.5325019955635071,
                        "yaw": 179.73777770996094
                    }
                },
                "velocity": {
                    "x": -0.5584200620651245,
                    "y": 0.001574452966451645,
                    "z": -0.007870501838624477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6739498972892761,
                "transform": {
                    "location": {
                        "x": 241.47576904296875,
                        "y": 5579.99609375,
                        "z": 365.58392333984375
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.5499258041381836,
                        "yaw": 179.8902130126953
                    }
                },
                "velocity": {
                    "x": -0.6739338636398315,
                    "y": 0.0015393232461065054,
                    "z": -0.004388484638184309
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.847105026245117,
                "transform": {
                    "location": {
                        "x": 214.85592651367188,
                        "y": 5563.5966796875,
                        "z": 365.5569763183594
                    },
                    "rotation": {
                        "roll": -0.002075148979201913,
                        "pitch": -0.8196704387664795,
                        "yaw": 88.321533203125
                    }
                },
                "velocity": {
                    "x": 0.11410156637430191,
                    "y": 3.8452868461608887,
                    "z": -0.03110070712864399
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00016442094056401402,
                "transform": {
                    "location": {
                        "x": 204.08116149902344,
                        "y": 5583.529296875,
                        "z": 365.45306396484375
                    },
                    "rotation": {
                        "roll": 0.00017240944725926965,
                        "pitch": 0.03085879236459732,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": -6.0092934290878475e-06,
                    "y": -4.105917014385341e-06,
                    "z": -0.00016425977810285985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012924296606797725,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -7.86600594437914e-06,
                    "y": 1.1971267667831853e-05,
                    "z": -0.00012844671437051147
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009881037985906005,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 3.1225568818626925e-05,
                    "y": 9.610682172933593e-05,
                    "z": 0.0009829229675233364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.404011726379395,
                "transform": {
                    "location": {
                        "x": 215.4187469482422,
                        "y": 5589.0771484375,
                        "z": 365.3586120605469
                    },
                    "rotation": {
                        "roll": 0.00595893757417798,
                        "pitch": -0.48268944025039673,
                        "yaw": 89.64933013916016
                    }
                },
                "velocity": {
                    "x": 0.06563097983598709,
                    "y": 12.40354061126709,
                    "z": -0.08584967255592346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.970054864883423,
                "transform": {
                    "location": {
                        "x": 214.82835388183594,
                        "y": 5633.00439453125,
                        "z": 365.03863525390625
                    },
                    "rotation": {
                        "roll": 0.00980581995099783,
                        "pitch": 0.41461294889450073,
                        "yaw": -80.23460388183594
                    }
                },
                "velocity": {
                    "x": 0.48313722014427185,
                    "y": -2.9304006099700928,
                    "z": 0.0235972311347723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9691743850708008,
                "transform": {
                    "location": {
                        "x": 216.86734008789062,
                        "y": 5618.2421875,
                        "z": 365.14471435546875
                    },
                    "rotation": {
                        "roll": 0.022712020203471184,
                        "pitch": 0.3350207507610321,
                        "yaw": -83.72466278076172
                    }
                },
                "velocity": {
                    "x": 0.1921493113040924,
                    "y": -1.9597294330596924,
                    "z": 0.013684511184692383
                },
                "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": 0.01708098128437996,
        "expert_target_speed": 10.0,
        "target_point": [
            19.12728458627441,
            -9.941771248146143
        ],
        "target_point_next": [
            17.532850250608558,
            -60.91683609181841
        ]
    },
    "300": {
        "acceleration": [
            -0.014966651797294617,
            0.30028343200683594,
            -0.0053939782083034515
        ],
        "angular_velocity": [
            0.2720533311367035,
            -0.03702183812856674,
            0.10102284699678421
        ],
        "forward_vector": [
            0.0292056892067194,
            -0.9995419383049011,
            0.007936393842101097
        ],
        "right_vector": [
            0.9995734095573425,
            0.029206540435552597,
            -8.54162408359116e-06
        ],
        "location": [
            218.07850646972656,
            5599.26220703125,
            365.2779846191406
        ],
        "rotation": [
            0.0004894144367426634,
            0.4547266364097595,
            -88.32634735107422
        ],
        "velocity": [
            0.03904946520924568,
            -1.2643063068389893,
            0.009468955919146538
        ],
        "speed": 1.2649092055345208,
        "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": 22.922060012817383,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.04857235783129e-05,
                -2.3376118406304158e-05,
                0.0005502945859916508
            ],
            "speed_kmh": 0.001983206393667658,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 215.11328125,
                        "y": 5509.2255859375,
                        "z": 366.0707702636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6521540880203247,
                "transform": {
                    "location": {
                        "x": 168.56796264648438,
                        "y": 5583.52099609375,
                        "z": 365.759521484375
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -0.6866388916969299,
                        "yaw": -0.1089782640337944
                    }
                },
                "velocity": {
                    "x": 0.6430098414421082,
                    "y": 0.006348387338221073,
                    "z": 0.10864167660474777
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.324912071228027,
                "transform": {
                    "location": {
                        "x": 170.21725463867188,
                        "y": 5586.78662109375,
                        "z": 365.7264099121094
                    },
                    "rotation": {
                        "roll": -0.0033264162484556437,
                        "pitch": -0.909268856048584,
                        "yaw": 0.2914927899837494
                    }
                },
                "velocity": {
                    "x": 4.3242034912109375,
                    "y": 0.04966675490140915,
                    "z": -0.06049637123942375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.153182029724121,
                "transform": {
                    "location": {
                        "x": 257.4752197265625,
                        "y": 5576.7412109375,
                        "z": 365.709716796875
                    },
                    "rotation": {
                        "roll": -0.0015563959022983909,
                        "pitch": -0.769775927066803,
                        "yaw": -179.72735595703125
                    }
                },
                "velocity": {
                    "x": -8.15231990814209,
                    "y": -0.022142047062516212,
                    "z": -0.11645812541246414
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.56913948059082,
                "transform": {
                    "location": {
                        "x": 258.14703369140625,
                        "y": 5579.9951171875,
                        "z": 365.7352600097656
                    },
                    "rotation": {
                        "roll": -0.01382446102797985,
                        "pitch": -0.959313690662384,
                        "yaw": -179.72174072265625
                    }
                },
                "velocity": {
                    "x": -7.568368434906006,
                    "y": -0.018556207418441772,
                    "z": -0.10643870383501053
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038832664489746,
                "transform": {
                    "location": {
                        "x": 214.13429260253906,
                        "y": 5539.16845703125,
                        "z": 365.74468994140625
                    },
                    "rotation": {
                        "roll": 0.07158114016056061,
                        "pitch": -1.1788017749786377,
                        "yaw": 88.14888000488281
                    }
                },
                "velocity": {
                    "x": 0.21829892694950104,
                    "y": 8.035587310791016,
                    "z": -0.067142553627491
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.838850021362305,
                "transform": {
                    "location": {
                        "x": 189.76577758789062,
                        "y": 5583.5673828125,
                        "z": 365.49029541015625
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.527618408203125,
                        "yaw": -0.152587890625
                    }
                },
                "velocity": {
                    "x": 7.838708877563477,
                    "y": -0.018399231135845184,
                    "z": -0.04328345134854317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7980117797851562,
                "transform": {
                    "location": {
                        "x": 190.02734375,
                        "y": 5586.8173828125,
                        "z": 365.4853820800781
                    },
                    "rotation": {
                        "roll": 0.002300249645486474,
                        "pitch": -0.33630484342575073,
                        "yaw": -0.1879272311925888
                    }
                },
                "velocity": {
                    "x": 1.7979673147201538,
                    "y": -0.00511804036796093,
                    "z": -0.011549806222319603
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00154121161904186,
                "transform": {
                    "location": {
                        "x": 241.01319885253906,
                        "y": 5576.74560546875,
                        "z": 365.5351867675781
                    },
                    "rotation": {
                        "roll": 0.0010369515512138605,
                        "pitch": -0.5404660105705261,
                        "yaw": 179.70420837402344
                    }
                },
                "velocity": {
                    "x": -0.00011937267845496535,
                    "y": -0.00012834026711061597,
                    "z": -0.0015312125906348228
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4596604108810425,
                "transform": {
                    "location": {
                        "x": 241.2021026611328,
                        "y": 5579.99658203125,
                        "z": 365.5806884765625
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": -0.3991084098815918,
                        "yaw": 179.88316345214844
                    }
                },
                "velocity": {
                    "x": -1.4596229791641235,
                    "y": 0.003609783248975873,
                    "z": -0.009818277321755886
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.3161749839782715,
                "transform": {
                    "location": {
                        "x": 214.8863983154297,
                        "y": 5564.625,
                        "z": 365.5466613769531
                    },
                    "rotation": {
                        "roll": -0.0001220953417941928,
                        "pitch": -0.5545908212661743,
                        "yaw": 88.3060531616211
                    }
                },
                "velocity": {
                    "x": 0.1277194619178772,
                    "y": 4.3141560554504395,
                    "z": -0.0333736427128315
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004494307504501194,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": -3.0255364436015952e-06,
                    "y": 1.131361750594806e-05,
                    "z": 0.00044927812996320426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.624711047858e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -5.136709660291672e-06,
                    "y": 4.093773168278858e-05,
                    "z": -3.8228961784625426e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005508906906470656,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.04857235783129e-05,
                    "y": -2.3376118406304158e-05,
                    "z": 0.0005502945859916508
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.192036628723145,
                "transform": {
                    "location": {
                        "x": 215.4188995361328,
                        "y": 5592.28125,
                        "z": 365.3360595703125
                    },
                    "rotation": {
                        "roll": 0.02403259463608265,
                        "pitch": -0.4873408079147339,
                        "yaw": 90.15702056884766
                    }
                },
                "velocity": {
                    "x": -0.0723971426486969,
                    "y": 13.191512107849121,
                    "z": -0.09280095994472504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.003512375056743622,
                "transform": {
                    "location": {
                        "x": 214.9031219482422,
                        "y": 5632.5478515625,
                        "z": 365.0416259765625
                    },
                    "rotation": {
                        "roll": -0.004425049759447575,
                        "pitch": 0.042859435081481934,
                        "yaw": -80.44139099121094
                    }
                },
                "velocity": {
                    "x": 0.00018553256813902408,
                    "y": -0.0035052085295319557,
                    "z": 0.00012597443128470331
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6624908447265625,
                "transform": {
                    "location": {
                        "x": 216.91070556640625,
                        "y": 5617.8076171875,
                        "z": 365.1479187011719
                    },
                    "rotation": {
                        "roll": 0.008197651244699955,
                        "pitch": 0.289156049489975,
                        "yaw": -83.88192749023438
                    }
                },
                "velocity": {
                    "x": 0.1617041677236557,
                    "y": -1.6545575857162476,
                    "z": 0.012917318381369114
                },
                "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": 0.012177851051092148,
        "expert_target_speed": 10.0,
        "target_point": [
            18.805838776170045,
            -9.948677452791332
        ],
        "target_point_next": [
            17.193823499543065,
            -60.92318935251689
        ]
    },
    "305": {
        "acceleration": [
            -0.029188692569732666,
            0.7513332366943359,
            0.0038837455213069916
        ],
        "angular_velocity": [
            0.23011431097984314,
            0.012602631002664566,
            0.010766818188130856
        ],
        "forward_vector": [
            0.029391011223196983,
            -0.9995458722114563,
            0.006648610346019268
        ],
        "right_vector": [
            0.999567985534668,
            0.029391145333647728,
            -7.762526365695521e-05
        ],
        "location": [
            218.08734130859375,
            5598.96875,
            365.2803039550781
        ],
        "rotation": [
            0.0044476985931396484,
            0.38094010949134827,
            -88.31574249267578
        ],
        "velocity": [
            0.03267576918005943,
            -1.0940170288085938,
            0.009655131958425045
        ],
        "speed": 1.094504895016323,
        "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": 22.67143440246582,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -6.722710531903431e-05,
                1.3747478078585118e-05,
                8.908750169211999e-05
            ],
            "speed_kmh": 0.00040482091722007384,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.8249969482422,
                        "y": 5512.2109375,
                        "z": 365.9950256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1706149578094482,
                "transform": {
                    "location": {
                        "x": 168.79991149902344,
                        "y": 5583.52294921875,
                        "z": 365.7552185058594
                    },
                    "rotation": {
                        "roll": -0.005584716331213713,
                        "pitch": -0.6599396467208862,
                        "yaw": -0.03643798828125
                    }
                },
                "velocity": {
                    "x": 1.1679587364196777,
                    "y": 0.012193314731121063,
                    "z": -0.0778651013970375
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.198545932769775,
                "transform": {
                    "location": {
                        "x": 171.43780517578125,
                        "y": 5586.798828125,
                        "z": 365.7095947265625
                    },
                    "rotation": {
                        "roll": -0.01327514834702015,
                        "pitch": -0.8909298181533813,
                        "yaw": 0.4227198362350464
                    }
                },
                "velocity": {
                    "x": 5.198004722595215,
                    "y": 0.025459077209234238,
                    "z": -0.07057273387908936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.848658561706543,
                "transform": {
                    "location": {
                        "x": 255.60186767578125,
                        "y": 5576.736328125,
                        "z": 365.6854553222656
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.8097530603408813,
                        "yaw": -179.8611297607422
                    }
                },
                "velocity": {
                    "x": -6.848097801208496,
                    "y": -0.012740072794258595,
                    "z": -0.08671008050441742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.885096073150635,
                "transform": {
                    "location": {
                        "x": 256.1585998535156,
                        "y": 5579.9892578125,
                        "z": 365.70721435546875
                    },
                    "rotation": {
                        "roll": -0.006225586403161287,
                        "pitch": -0.8254078030586243,
                        "yaw": -179.82730102539062
                    }
                },
                "velocity": {
                    "x": -7.8844475746154785,
                    "y": -0.018295539543032646,
                    "z": -0.09947701543569565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.705824851989746,
                "transform": {
                    "location": {
                        "x": 214.19007873535156,
                        "y": 5541.1083984375,
                        "z": 365.7276611328125
                    },
                    "rotation": {
                        "roll": 0.04693176969885826,
                        "pitch": -0.9072608351707458,
                        "yaw": 88.27090454101562
                    }
                },
                "velocity": {
                    "x": 0.2239159345626831,
                    "y": 7.702301979064941,
                    "z": -0.06438067555427551
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.672063827514648,
                "transform": {
                    "location": {
                        "x": 191.59445190429688,
                        "y": 5583.56298828125,
                        "z": 365.4776916503906
                    },
                    "rotation": {
                        "roll": 0.00033002771669998765,
                        "pitch": -0.2056911289691925,
                        "yaw": -0.14105224609375
                    }
                },
                "velocity": {
                    "x": 6.671936511993408,
                    "y": -0.015701832249760628,
                    "z": -0.03810478746891022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0532435178756714,
                "transform": {
                    "location": {
                        "x": 190.1707763671875,
                        "y": 5586.81689453125,
                        "z": 365.484375
                    },
                    "rotation": {
                        "roll": 0.0038926664274185896,
                        "pitch": -0.4260808229446411,
                        "yaw": -0.2803038954734802
                    }
                },
                "velocity": {
                    "x": 1.0532093048095703,
                    "y": -0.003735506208613515,
                    "z": -0.007617301773279905
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001712221303023398,
                "transform": {
                    "location": {
                        "x": 241.01280212402344,
                        "y": 5576.74560546875,
                        "z": 365.5347595214844
                    },
                    "rotation": {
                        "roll": 0.0012127276277169585,
                        "pitch": -0.48268944025039673,
                        "yaw": 179.70420837402344
                    }
                },
                "velocity": {
                    "x": 0.00010675512021407485,
                    "y": 0.00013701837451662868,
                    "z": 0.0017033881740644574
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1747632026672363,
                "transform": {
                    "location": {
                        "x": 240.72889709472656,
                        "y": 5579.99755859375,
                        "z": 365.5770263671875
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.35553181171417236,
                        "yaw": 179.88229370117188
                    }
                },
                "velocity": {
                    "x": -2.174713611602783,
                    "y": 0.0045217168517410755,
                    "z": -0.01396004669368267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.7300124168396,
                "transform": {
                    "location": {
                        "x": 214.92007446289062,
                        "y": 5565.75927734375,
                        "z": 365.5358581542969
                    },
                    "rotation": {
                        "roll": -0.0004272530204616487,
                        "pitch": -0.30437371134757996,
                        "yaw": 88.30457305908203
                    }
                },
                "velocity": {
                    "x": 0.14093017578125,
                    "y": 4.727777481079102,
                    "z": -0.035760264843702316
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00028569239657372236,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -2.012679397012107e-05,
                    "y": -2.7277852495899424e-05,
                    "z": -0.00028367407503537834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001124502596212551,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -6.722710531903431e-05,
                    "y": 1.3747478078585118e-05,
                    "z": 8.908750169211999e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.951787948608398,
                "transform": {
                    "location": {
                        "x": 215.38992309570312,
                        "y": 5595.67822265625,
                        "z": 365.3119812011719
                    },
                    "rotation": {
                        "roll": 0.04691947251558304,
                        "pitch": -0.4837891161441803,
                        "yaw": 90.7241439819336
                    }
                },
                "velocity": {
                    "x": -0.2635851204395294,
                    "y": 13.948944091796875,
                    "z": -0.09926892817020416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8719032406806946,
                "transform": {
                    "location": {
                        "x": 214.92007446289062,
                        "y": 5632.44384765625,
                        "z": 365.0428466796875
                    },
                    "rotation": {
                        "roll": -0.0013427509693428874,
                        "pitch": 0.3947985768318176,
                        "yaw": -80.4905776977539
                    }
                },
                "velocity": {
                    "x": 0.14042820036411285,
                    "y": -0.8605019450187683,
                    "z": 0.005621433258056641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.254119873046875,
                "transform": {
                    "location": {
                        "x": 216.95843505859375,
                        "y": 5617.32373046875,
                        "z": 365.1507263183594
                    },
                    "rotation": {
                        "roll": 0.008258271962404251,
                        "pitch": 0.5146273970603943,
                        "yaw": -84.03579711914062
                    }
                },
                "velocity": {
                    "x": 0.2181943655014038,
                    "y": -2.243488073348999,
                    "z": 0.014431447722017765
                },
                "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": 0.010783648118376732,
        "expert_target_speed": 10.0,
        "target_point": [
            18.510386564509762,
            -9.95240229159671
        ],
        "target_point_next": [
            16.888831093620887,
            -60.926611599070746
        ]
    },
    "310": {
        "acceleration": [
            -0.009027719497680664,
            0.3808021545410156,
            -0.016889190301299095
        ],
        "angular_velocity": [
            -0.003649782156571746,
            0.00915112067013979,
            0.01050776056945324
        ],
        "forward_vector": [
            0.029314499348402023,
            -0.9995517730712891,
            0.006078444421291351
        ],
        "right_vector": [
            0.9995702505111694,
            0.0293145589530468,
            -7.92485661804676e-05
        ],
        "location": [
            218.09515380859375,
            5598.71923828125,
            365.2823791503906
        ],
        "rotation": [
            0.004540692083537579,
            0.34827134013175964,
            -88.32012939453125
        ],
        "velocity": [
            0.027750050649046898,
            -0.9314026236534119,
            0.006387481465935707
        ],
        "speed": 0.9318159220894886,
        "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": 22.4589900970459,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.9930488633690402e-05,
                0.00011262408952461556,
                0.00044256713590584695
            ],
            "speed_kmh": 0.001645586264205619,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.55186462402344,
                        "y": 5515.60595703125,
                        "z": 365.9513854980469
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.453756332397461,
                "transform": {
                    "location": {
                        "x": 169.25265502929688,
                        "y": 5583.5263671875,
                        "z": 365.7359924316406
                    },
                    "rotation": {
                        "roll": -0.010955809615552425,
                        "pitch": -0.556332528591156,
                        "yaw": 0.08044867217540741
                    }
                },
                "velocity": {
                    "x": 2.452944040298462,
                    "y": 0.02483304962515831,
                    "z": -0.05804363638162613
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.820864200592041,
                "transform": {
                    "location": {
                        "x": 172.79647827148438,
                        "y": 5586.8046875,
                        "z": 365.6904602050781
                    },
                    "rotation": {
                        "roll": -0.00952148623764515,
                        "pitch": -0.8525919914245605,
                        "yaw": 0.37841588258743286
                    }
                },
                "velocity": {
                    "x": 5.820236682891846,
                    "y": 0.026287121698260307,
                    "z": -0.08133578300476074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.774165630340576,
                "transform": {
                    "location": {
                        "x": 254.26390075683594,
                        "y": 5576.734375,
                        "z": 365.66943359375
                    },
                    "rotation": {
                        "roll": -0.006286620628088713,
                        "pitch": -0.9244933724403381,
                        "yaw": -179.62709045410156
                    }
                },
                "velocity": {
                    "x": -2.77394962310791,
                    "y": -0.006161341443657875,
                    "z": -0.03405552729964256
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.696718692779541,
                "transform": {
                    "location": {
                        "x": 254.33265686035156,
                        "y": 5579.98486328125,
                        "z": 365.6825256347656
                    },
                    "rotation": {
                        "roll": -0.0036926267202943563,
                        "pitch": -0.6102842092514038,
                        "yaw": -179.8592071533203
                    }
                },
                "velocity": {
                    "x": -6.696163654327393,
                    "y": -0.015043916180729866,
                    "z": -0.08491824567317963
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.516291618347168,
                "transform": {
                    "location": {
                        "x": 214.2520294189453,
                        "y": 5543.248046875,
                        "z": 365.7070617675781
                    },
                    "rotation": {
                        "roll": 0.014964945614337921,
                        "pitch": -0.15542776882648468,
                        "yaw": 88.36799621582031
                    }
                },
                "velocity": {
                    "x": 0.2711748778820038,
                    "y": 9.512110710144043,
                    "z": -0.07761306315660477
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.472334861755371,
                "transform": {
                    "location": {
                        "x": 193.09890747070312,
                        "y": 5583.55908203125,
                        "z": 365.4700012207031
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.1441648006439209,
                        "yaw": -0.1384887844324112
                    }
                },
                "velocity": {
                    "x": 5.472261905670166,
                    "y": -0.013707018457353115,
                    "z": -0.024748248979449272
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3298158645629883,
                "transform": {
                    "location": {
                        "x": 190.60484313964844,
                        "y": 5586.81591796875,
                        "z": 365.4815673828125
                    },
                    "rotation": {
                        "roll": -0.0029296875,
                        "pitch": -0.13003313541412354,
                        "yaw": -0.1962585300207138
                    }
                },
                "velocity": {
                    "x": 2.3297622203826904,
                    "y": -0.005180657375603914,
                    "z": -0.014932851307094097
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001723546301946044,
                "transform": {
                    "location": {
                        "x": 241.01272583007812,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0017575275851413608,
                        "pitch": -0.4643230736255646,
                        "yaw": 179.7041473388672
                    }
                },
                "velocity": {
                    "x": 7.744580216240138e-06,
                    "y": 0.00010968831338686869,
                    "z": 0.0017200349830091
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008219982264563441,
                "transform": {
                    "location": {
                        "x": 240.525390625,
                        "y": 5579.998046875,
                        "z": 365.57769775390625
                    },
                    "rotation": {
                        "roll": -0.0005798340425826609,
                        "pitch": -0.5840153098106384,
                        "yaw": 179.8717498779297
                    }
                },
                "velocity": {
                    "x": 0.0005168909556232393,
                    "y": -0.0001225423184223473,
                    "z": 0.0006272864411585033
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.6403326988220215,
                "transform": {
                    "location": {
                        "x": 214.95545959472656,
                        "y": 5566.9599609375,
                        "z": 365.52734375
                    },
                    "rotation": {
                        "roll": 0.0009468051139265299,
                        "pitch": -0.4038075804710388,
                        "yaw": 88.30059051513672
                    }
                },
                "velocity": {
                    "x": 0.13861514627933502,
                    "y": 4.638118267059326,
                    "z": -0.036507729440927505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020905197015963495,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -5.951728326181183e-06,
                    "y": 3.27408770317561e-07,
                    "z": -0.00020896697242278606
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004571072931867093,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.9930488633690402e-05,
                    "y": 0.00011262408952461556,
                    "z": 0.00044256713590584695
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.423209190368652,
                "transform": {
                    "location": {
                        "x": 215.31546020507812,
                        "y": 5599.2431640625,
                        "z": 365.28643798828125
                    },
                    "rotation": {
                        "roll": 0.026772549375891685,
                        "pitch": -0.45956242084503174,
                        "yaw": 91.38179779052734
                    }
                },
                "velocity": {
                    "x": -0.35354083776474,
                    "y": 14.418521881103516,
                    "z": -0.10113852471113205
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7913575172424316,
                "transform": {
                    "location": {
                        "x": 214.9753875732422,
                        "y": 5632.103515625,
                        "z": 365.0456237792969
                    },
                    "rotation": {
                        "roll": 0.002910694107413292,
                        "pitch": 0.5341139435768127,
                        "yaw": -80.55216979980469
                    }
                },
                "velocity": {
                    "x": 0.2859419286251068,
                    "y": -1.7683370113372803,
                    "z": 0.013532876968383789
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.23483285307884216,
                "transform": {
                    "location": {
                        "x": 217.00132751464844,
                        "y": 5616.87939453125,
                        "z": 365.15533447265625
                    },
                    "rotation": {
                        "roll": 0.0003143691283185035,
                        "pitch": 0.08729664236307144,
                        "yaw": -84.0337142944336
                    }
                },
                "velocity": {
                    "x": 0.017331434413790703,
                    "y": -0.23418593406677246,
                    "z": 0.0017427634447813034
                },
                "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": 0.004126564599573612,
        "expert_target_speed": 10.0,
        "target_point": [
            18.261541151974814,
            -9.951431321904105
        ],
        "target_point_next": [
            16.644022447023616,
            -60.92576888411746
        ]
    },
    "315": {
        "acceleration": [
            0.0053096190094947815,
            -0.13649940490722656,
            0.006753737106919289
        ],
        "angular_velocity": [
            -0.1781545877456665,
            0.03561786189675331,
            -0.007251329254359007
        ],
        "forward_vector": [
            0.029352659359574318,
            -0.99954754114151,
            0.006567073054611683
        ],
        "right_vector": [
            0.9995691180229187,
            0.029352745041251183,
            -8.342856745002791e-05
        ],
        "location": [
            218.101318359375,
            5598.49169921875,
            365.2838134765625
        ],
        "rotation": [
            0.004780207760632038,
            0.37626826763153076,
            -88.31793975830078
        ],
        "velocity": [
            0.027197832241654396,
            -0.9125898480415344,
            0.006114044226706028
        ],
        "speed": 0.9129950453464225,
        "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": 22.266468048095703,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                9.339674988950719e-07,
                1.5072205314936582e-05,
                0.0002477621310390532
            ],
            "speed_kmh": 0.0008935988806505041,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.33531188964844,
                        "y": 5518.703125,
                        "z": 365.922607421875
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.304725646972656,
                "transform": {
                    "location": {
                        "x": 170.08538818359375,
                        "y": 5583.533203125,
                        "z": 365.7224426269531
                    },
                    "rotation": {
                        "roll": -0.01705932430922985,
                        "pitch": -0.39138346910476685,
                        "yaw": 0.2728995382785797
                    }
                },
                "velocity": {
                    "x": 4.304196834564209,
                    "y": 0.04562393203377724,
                    "z": -0.04973360896110535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.92813777923584,
                "transform": {
                    "location": {
                        "x": 174.32647705078125,
                        "y": 5586.81298828125,
                        "z": 365.669677734375
                    },
                    "rotation": {
                        "roll": -0.007598876953125,
                        "pitch": -0.9042965173721313,
                        "yaw": 0.2952863872051239
                    }
                },
                "velocity": {
                    "x": 6.927399158477783,
                    "y": 0.03104475885629654,
                    "z": -0.0963081419467926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9327836632728577,
                "transform": {
                    "location": {
                        "x": 254.08265686035156,
                        "y": 5576.734375,
                        "z": 365.66656494140625
                    },
                    "rotation": {
                        "roll": -0.004638670943677425,
                        "pitch": -0.8620586395263672,
                        "yaw": -179.6300506591797
                    }
                },
                "velocity": {
                    "x": -0.9327176213264465,
                    "y": -0.002204443095251918,
                    "z": -0.010878228582441807
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.437706470489502,
                "transform": {
                    "location": {
                        "x": 253.08694458007812,
                        "y": 5579.9833984375,
                        "z": 365.6648864746094
                    },
                    "rotation": {
                        "roll": -0.002288817660883069,
                        "pitch": -0.35430920124053955,
                        "yaw": -179.9589385986328
                    }
                },
                "velocity": {
                    "x": -2.437526226043701,
                    "y": 0.00036837562220171094,
                    "z": -0.029646186158061028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.30454158782959,
                "transform": {
                    "location": {
                        "x": 214.32139587402344,
                        "y": 5545.65380859375,
                        "z": 365.6878967285156
                    },
                    "rotation": {
                        "roll": 0.006726507563143969,
                        "pitch": -0.32067736983299255,
                        "yaw": 88.36315155029297
                    }
                },
                "velocity": {
                    "x": 0.26806995272636414,
                    "y": 9.300369262695312,
                    "z": -0.07585230469703674
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.48988276720046997,
                "transform": {
                    "location": {
                        "x": 193.6730499267578,
                        "y": 5583.55810546875,
                        "z": 365.46527099609375
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": 0.19132724404335022,
                        "yaw": -0.12176511436700821
                    }
                },
                "velocity": {
                    "x": 0.4898744821548462,
                    "y": -0.0013394905254244804,
                    "z": 0.002516527194529772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.017429253086447716,
                "transform": {
                    "location": {
                        "x": 191.03968811035156,
                        "y": 5586.81494140625,
                        "z": 365.478515625
                    },
                    "rotation": {
                        "roll": -0.005920409224927425,
                        "pitch": -0.6029348969459534,
                        "yaw": -0.03021240048110485
                    }
                },
                "velocity": {
                    "x": 0.017412785440683365,
                    "y": -0.0007459823391400278,
                    "z": -0.0001313833927270025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010854920838028193,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.6328712920076214e-05,
                    "y": -7.257426477735862e-05,
                    "z": 0.0010827431688085198
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007262598373927176,
                "transform": {
                    "location": {
                        "x": 240.52459716796875,
                        "y": 5579.998046875,
                        "z": 365.57666015625
                    },
                    "rotation": {
                        "roll": -0.0010681153507903218,
                        "pitch": -0.46661117672920227,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.000355124386260286,
                    "y": 0.00019137903291266412,
                    "z": -0.0006039156578481197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.325900077819824,
                "transform": {
                    "location": {
                        "x": 214.98828125,
                        "y": 5568.05615234375,
                        "z": 365.5198669433594
                    },
                    "rotation": {
                        "roll": 0.0005651459796354175,
                        "pitch": -0.5687224864959717,
                        "yaw": 88.29490661621094
                    }
                },
                "velocity": {
                    "x": 0.12974309921264648,
                    "y": 4.323822498321533,
                    "z": -0.03377077355980873
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00047034333692863584,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -5.061738193035126e-06,
                    "y": 4.331895979703404e-06,
                    "z": -0.00047029615961946547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002482219133526087,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 9.339674988950719e-07,
                    "y": 1.5072205314936582e-05,
                    "z": 0.0002477621310390532
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.301559448242188,
                "transform": {
                    "location": {
                        "x": 215.1871795654297,
                        "y": 5602.83349609375,
                        "z": 365.2605285644531
                    },
                    "rotation": {
                        "roll": 0.04471127688884735,
                        "pitch": -0.4058839678764343,
                        "yaw": 92.34622955322266
                    }
                },
                "velocity": {
                    "x": -0.6143125891685486,
                    "y": 14.28799057006836,
                    "z": -0.10265550017356873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8964927196502686,
                "transform": {
                    "location": {
                        "x": 215.0684356689453,
                        "y": 5631.5234375,
                        "z": 365.05010986328125
                    },
                    "rotation": {
                        "roll": 0.0033356023486703634,
                        "pitch": 0.5882978439331055,
                        "yaw": -80.72827911376953
                    }
                },
                "velocity": {
                    "x": 0.46004557609558105,
                    "y": -2.8596389293670654,
                    "z": 0.02219652198255062
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0667154788970947,
                "transform": {
                    "location": {
                        "x": 217.01718139648438,
                        "y": 5616.71484375,
                        "z": 365.1558837890625
                    },
                    "rotation": {
                        "roll": 0.00011650145461317152,
                        "pitch": 0.2781389355659485,
                        "yaw": -84.03842163085938
                    }
                },
                "velocity": {
                    "x": 0.10365180671215057,
                    "y": -1.0616424083709717,
                    "z": 0.007320070173591375
                },
                "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": 0.000696738192345947,
        "expert_target_speed": 10.0,
        "target_point": [
            18.033555181622432,
            -9.951582744605146
        ],
        "target_point_next": [
            16.414172001499985,
            -60.92586110912227
        ]
    },
    "320": {
        "acceleration": [
            0.021268464624881744,
            -0.7657051086425781,
            -0.0013975147157907486
        ],
        "angular_velocity": [
            -0.24089673161506653,
            0.0005190426600165665,
            -0.0742192193865776
        ],
        "forward_vector": [
            0.029391903430223465,
            -0.9995397329330444,
            0.007508088368922472
        ],
        "right_vector": [
            0.9995679259300232,
            0.029391814023256302,
            -0.00012243702076375484
        ],
        "location": [
            218.109130859375,
            5598.24755859375,
            365.28533935546875
        ],
        "rotation": [
            0.007015321869403124,
            0.43018579483032227,
            -88.31568145751953
        ],
        "velocity": [
            0.031217094510793686,
            -1.046489953994751,
            0.006336602848023176
        ],
        "speed": 1.0469554578880764,
        "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": 22.059965133666992,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                4.041288048028946e-05,
                0.00010528499115025625,
                0.0010479906341060996
            ],
            "speed_kmh": 0.0037945477191357727,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.19186401367188,
                        "y": 5521.6904296875,
                        "z": 365.8961486816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.181733131408691,
                "transform": {
                    "location": {
                        "x": 171.35499572753906,
                        "y": 5583.544921875,
                        "z": 365.7078552246094
                    },
                    "rotation": {
                        "roll": -0.00814819149672985,
                        "pitch": -0.46102407574653625,
                        "yaw": 0.45075130462646484
                    }
                },
                "velocity": {
                    "x": 5.1811347007751465,
                    "y": 0.04289678856730461,
                    "z": -0.06604230403900146
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.793825149536133,
                "transform": {
                    "location": {
                        "x": 176.22523498535156,
                        "y": 5586.8212890625,
                        "z": 365.6432189941406
                    },
                    "rotation": {
                        "roll": -0.005401611328125,
                        "pitch": -0.888334333896637,
                        "yaw": 0.2651482820510864
                    }
                },
                "velocity": {
                    "x": 7.792994022369385,
                    "y": 0.03561880812048912,
                    "z": -0.1081012710928917
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.190101981163025,
                "transform": {
                    "location": {
                        "x": 253.775146484375,
                        "y": 5576.7333984375,
                        "z": 365.6621398925781
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.718351423740387,
                        "yaw": -179.68736267089844
                    }
                },
                "velocity": {
                    "x": -1.1900136470794678,
                    "y": -5.045557190896943e-05,
                    "z": -0.014502124860882759
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6691573262214661,
                "transform": {
                    "location": {
                        "x": 252.95358276367188,
                        "y": 5579.984375,
                        "z": 365.66436767578125
                    },
                    "rotation": {
                        "roll": -0.0026245112530887127,
                        "pitch": -0.4750942587852478,
                        "yaw": -179.93798828125
                    }
                },
                "velocity": {
                    "x": -0.6691194772720337,
                    "y": 0.0009178059408441186,
                    "z": -0.007057809736579657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.330713272094727,
                "transform": {
                    "location": {
                        "x": 214.3846893310547,
                        "y": 5547.84033203125,
                        "z": 365.6715393066406
                    },
                    "rotation": {
                        "roll": 0.0035218389239162207,
                        "pitch": -0.7001899480819702,
                        "yaw": 88.32013702392578
                    }
                },
                "velocity": {
                    "x": 0.2439757138490677,
                    "y": 8.326862335205078,
                    "z": -0.06795056164264679
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6551707983016968,
                "transform": {
                    "location": {
                        "x": 193.96820068359375,
                        "y": 5583.5576171875,
                        "z": 365.4683837890625
                    },
                    "rotation": {
                        "roll": 0.0005927109741605818,
                        "pitch": -0.22817611694335938,
                        "yaw": -0.134063720703125
                    }
                },
                "velocity": {
                    "x": 1.655164122581482,
                    "y": -0.003855436109006405,
                    "z": -0.0027056883554905653
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1040923595428467,
                "transform": {
                    "location": {
                        "x": 191.16514587402344,
                        "y": 5586.814453125,
                        "z": 365.4776916503906
                    },
                    "rotation": {
                        "roll": -0.0016174317570403218,
                        "pitch": -0.2694987654685974,
                        "yaw": -0.0429382361471653
                    }
                },
                "velocity": {
                    "x": 1.1040676832199097,
                    "y": -0.0032437837217003107,
                    "z": -0.006632089614868164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016853894339874387,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.8072296117898077e-05,
                    "y": 3.511937029543333e-05,
                    "z": 0.0016847896622493863
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.237624168395996,
                "transform": {
                    "location": {
                        "x": 215.02085876464844,
                        "y": 5569.13916015625,
                        "z": 365.5108947753906
                    },
                    "rotation": {
                        "roll": 0.008809168823063374,
                        "pitch": -0.4772662818431854,
                        "yaw": 88.2939224243164
                    }
                },
                "velocity": {
                    "x": 0.12542158365249634,
                    "y": 4.235638618469238,
                    "z": -0.03306043520569801
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016235816292464733,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -9.588319699105341e-06,
                    "y": 8.336163546118769e-07,
                    "z": -0.00016207263979595155
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001054040971212089,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 4.041288048028946e-05,
                    "y": 0.00010528499115025625,
                    "z": 0.0010479906341060996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.26706600189209,
                "transform": {
                    "location": {
                        "x": 215.01194763183594,
                        "y": 5606.39697265625,
                        "z": 365.2351379394531
                    },
                    "rotation": {
                        "roll": 0.0615834966301918,
                        "pitch": -0.40331581234931946,
                        "yaw": 93.18926239013672
                    }
                },
                "velocity": {
                    "x": -0.8685248494148254,
                    "y": 14.240230560302734,
                    "z": -0.10334465652704239
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.155702829360962,
                "transform": {
                    "location": {
                        "x": 215.1737518310547,
                        "y": 5630.8681640625,
                        "z": 365.0548095703125
                    },
                    "rotation": {
                        "roll": 0.0003199323546141386,
                        "pitch": 0.3893207609653473,
                        "yaw": -80.90080261230469
                    }
                },
                "velocity": {
                    "x": 0.34300100803375244,
                    "y": -2.128178834915161,
                    "z": 0.01611364260315895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8881784677505493,
                "transform": {
                    "location": {
                        "x": 217.0545196533203,
                        "y": 5616.3330078125,
                        "z": 365.1573486328125
                    },
                    "rotation": {
                        "roll": 0.0062384228222072124,
                        "pitch": 0.6090888977050781,
                        "yaw": -84.17241668701172
                    }
                },
                "velocity": {
                    "x": 0.18167181313037872,
                    "y": -1.8793648481369019,
                    "z": 0.014169606380164623
                },
                "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": -0.00338867143727839,
        "expert_target_speed": 10.0,
        "target_point": [
            17.788886490081172,
            -9.95294820532309
        ],
        "target_point_next": [
            16.167434416330206,
            -60.927160801888725
        ]
    },
    "325": {
        "acceleration": [
            0.022608637809753418,
            -0.6070756912231445,
            0.0016544293612241745
        ],
        "angular_velocity": [
            -0.0910772979259491,
            0.01247644703835249,
            0.044561631977558136
        ],
        "forward_vector": [
            0.029424456879496574,
            -0.9995355010032654,
            0.007933414541184902
        ],
        "right_vector": [
            0.9995669722557068,
            0.02942456118762493,
            -0.00010359798761783168
        ],
        "location": [
            218.116943359375,
            5597.97119140625,
            365.2871398925781
        ],
        "rotation": [
            0.005935914348810911,
            0.4545558989048004,
            -88.31380462646484
        ],
        "velocity": [
            0.03477064520120621,
            -1.1701422929763794,
            0.006775474175810814
        ],
        "speed": 1.1706587818744312,
        "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": 21.827733993530273,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.643534778850153e-05,
                7.926463877083734e-05,
                0.0006980929174460471
            ],
            "speed_kmh": 0.0025299746947472323,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.09335327148438,
                        "y": 5524.2763671875,
                        "z": 365.8733825683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.037919521331787,
                "transform": {
                    "location": {
                        "x": 172.92562866210938,
                        "y": 5583.5546875,
                        "z": 365.6867370605469
                    },
                    "rotation": {
                        "roll": 0.009973273612558842,
                        "pitch": -0.5125715136528015,
                        "yaw": 0.362425833940506
                    }
                },
                "velocity": {
                    "x": 7.037127494812012,
                    "y": 0.036272693425416946,
                    "z": -0.09914570301771164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5719146728515625,
                "transform": {
                    "location": {
                        "x": 178.0321044921875,
                        "y": 5586.82470703125,
                        "z": 365.6168212890625
                    },
                    "rotation": {
                        "roll": -0.006713866721838713,
                        "pitch": -0.7088984847068787,
                        "yaw": 0.1381993144750595
                    }
                },
                "velocity": {
                    "x": 6.571292400360107,
                    "y": 0.0050114840269088745,
                    "z": -0.09026731550693512
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9754208326339722,
                "transform": {
                    "location": {
                        "x": 253.394287109375,
                        "y": 5576.728515625,
                        "z": 365.65740966796875
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": -0.7343750596046448,
                        "yaw": 179.861572265625
                    }
                },
                "velocity": {
                    "x": -0.9752037525177002,
                    "y": -0.012631774879992008,
                    "z": -0.016243277117609978
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5298126935958862,
                "transform": {
                    "location": {
                        "x": 252.66702270507812,
                        "y": 5579.984375,
                        "z": 365.6632080078125
                    },
                    "rotation": {
                        "roll": -0.0023193354718387127,
                        "pitch": -0.7566210031509399,
                        "yaw": -179.95350646972656
                    }
                },
                "velocity": {
                    "x": -1.5297003984451294,
                    "y": 0.0005555752431973815,
                    "z": -0.018530191853642464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011579513549805,
                "transform": {
                    "location": {
                        "x": 214.4441375732422,
                        "y": 5549.8681640625,
                        "z": 365.6551818847656
                    },
                    "rotation": {
                        "roll": 0.002147786319255829,
                        "pitch": -0.6671113967895508,
                        "yaw": 88.3279037475586
                    }
                },
                "velocity": {
                    "x": 0.23577018082141876,
                    "y": 8.007851600646973,
                    "z": -0.06422755867242813
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5265328884124756,
                "transform": {
                    "location": {
                        "x": 194.5011749267578,
                        "y": 5583.55615234375,
                        "z": 365.4675598144531
                    },
                    "rotation": {
                        "roll": 0.00041307570063509047,
                        "pitch": -0.2656875252723694,
                        "yaw": -0.1263733059167862
                    }
                },
                "velocity": {
                    "x": 2.526519298553467,
                    "y": -0.0058173006400465965,
                    "z": -0.005886239930987358
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3839635848999023,
                "transform": {
                    "location": {
                        "x": 191.60679626464844,
                        "y": 5586.8134765625,
                        "z": 365.47515869140625
                    },
                    "rotation": {
                        "roll": -0.0029296872671693563,
                        "pitch": -0.05673154816031456,
                        "yaw": 0.005703130271285772
                    }
                },
                "velocity": {
                    "x": 2.383937358856201,
                    "y": -0.002820395166054368,
                    "z": -0.010788888670504093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006104528438299894,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -1.666091338847764e-05,
                    "y": 3.135099177598022e-05,
                    "z": 0.0006094195414334536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9447529315948486,
                "transform": {
                    "location": {
                        "x": 215.0504608154297,
                        "y": 5570.15234375,
                        "z": 365.50341796875
                    },
                    "rotation": {
                        "roll": 0.019044116139411926,
                        "pitch": -0.49884283542633057,
                        "yaw": 88.3078384399414
                    }
                },
                "velocity": {
                    "x": 0.11095139384269714,
                    "y": 3.943084716796875,
                    "z": -0.029113497585058212
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.394179632072337e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.2443698324204888e-05,
                    "y": -1.0302104783477262e-05,
                    "z": 4.086444096174091e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000702770717907697,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.643534778850153e-05,
                    "y": 7.926463877083734e-05,
                    "z": 0.0006980929174460471
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.293072700500488,
                "transform": {
                    "location": {
                        "x": 214.78436279296875,
                        "y": 5609.96044921875,
                        "z": 365.2098083496094
                    },
                    "rotation": {
                        "roll": 0.05446571484208107,
                        "pitch": -0.40799450874328613,
                        "yaw": 93.91378784179688
                    }
                },
                "velocity": {
                    "x": -1.0800334215164185,
                    "y": 14.251836776733398,
                    "z": -0.10301107168197632
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.026326894760132,
                "transform": {
                    "location": {
                        "x": 215.24960327148438,
                        "y": 5630.3935546875,
                        "z": 365.0584411621094
                    },
                    "rotation": {
                        "roll": -0.00027466812753118575,
                        "pitch": 0.3934803605079651,
                        "yaw": -81.0378646850586
                    }
                },
                "velocity": {
                    "x": 0.317170649766922,
                    "y": -2.001300096511841,
                    "z": 0.01417307835072279
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1263195276260376,
                "transform": {
                    "location": {
                        "x": 217.10202026367188,
                        "y": 5615.8466796875,
                        "z": 365.1614074707031
                    },
                    "rotation": {
                        "roll": 0.002252107486128807,
                        "pitch": 0.43985050916671753,
                        "yaw": -84.28605651855469
                    }
                },
                "velocity": {
                    "x": 0.10972479730844498,
                    "y": -1.120935082435608,
                    "z": 0.007785491645336151
                },
                "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": -0.010605640709400177,
        "expert_target_speed": 0,
        "target_point": [
            17.512066147990822,
            -9.95323795631446
        ],
        "target_point_next": [
            15.88885774800457,
            -60.92739465515114
        ]
    },
    "330": {
        "acceleration": [
            0.024973750114440918,
            -0.6228232383728027,
            0.014530178159475327
        ],
        "angular_velocity": [
            -0.050748564302921295,
            0.005905045196413994,
            0.02869413048028946
        ],
        "forward_vector": [
            0.029397232457995415,
            -0.9995344281196594,
            0.008168843574821949
        ],
        "right_vector": [
            0.9995678067207336,
            0.029397541657090187,
            -8.231819811044261e-05
        ],
        "location": [
            218.12648010253906,
            5597.66064453125,
            365.2891845703125
        ],
        "rotation": [
            0.0047166431322693825,
            0.46804550290107727,
            -88.31536102294922
        ],
        "velocity": [
            0.039061401039361954,
            -1.3137165307998657,
            0.010050124488770962
        ],
        "speed": 1.3142971187475048,
        "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": 21.567590713500977,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -6.530135578941554e-06,
                -2.3500690531363944e-06,
                2.2850377717986703e-05
            ],
            "speed_kmh": 8.597183336341828e-05,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.01499938964844,
                        "y": 5527.32177734375,
                        "z": 365.8469543457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4975587725639343,
                        "yaw": 90.79924774169922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.448184967041016,
                "transform": {
                    "location": {
                        "x": 174.83538818359375,
                        "y": 5583.5654296875,
                        "z": 365.659912109375
                    },
                    "rotation": {
                        "roll": 0.0006250687292777002,
                        "pitch": -0.5130564570426941,
                        "yaw": 0.24536137282848358
                    }
                },
                "velocity": {
                    "x": 8.447272300720215,
                    "y": 0.03854667395353317,
                    "z": -0.11805298179388046
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.926959991455078,
                "transform": {
                    "location": {
                        "x": 179.43312072753906,
                        "y": 5586.82373046875,
                        "z": 365.5960998535156
                    },
                    "rotation": {
                        "roll": -0.006561278365552425,
                        "pitch": -0.5576165914535522,
                        "yaw": 0.43826451897621155
                    }
                },
                "velocity": {
                    "x": 3.9265105724334717,
                    "y": 0.0232407096773386,
                    "z": -0.05468278378248215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0824106931686401,
                "transform": {
                    "location": {
                        "x": 252.92835998535156,
                        "y": 5576.72216796875,
                        "z": 365.6517028808594
                    },
                    "rotation": {
                        "roll": 0.0056059458293020725,
                        "pitch": -0.7117603421211243,
                        "yaw": 179.23297119140625
                    }
                },
                "velocity": {
                    "x": -1.081771731376648,
                    "y": -0.034525513648986816,
                    "z": -0.013817157596349716
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.23176908493042,
                "transform": {
                    "location": {
                        "x": 252.1737518310547,
                        "y": 5579.9833984375,
                        "z": 365.6572570800781
                    },
                    "rotation": {
                        "roll": -0.0022888178937137127,
                        "pitch": -0.7751786112785339,
                        "yaw": -179.97341918945312
                    }
                },
                "velocity": {
                    "x": -2.231611967086792,
                    "y": 0.0012047962518408895,
                    "z": -0.026449494063854218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.733852863311768,
                "transform": {
                    "location": {
                        "x": 214.50241088867188,
                        "y": 5551.84375,
                        "z": 365.63922119140625
                    },
                    "rotation": {
                        "roll": 0.0012422570725902915,
                        "pitch": -0.6073267459869385,
                        "yaw": 88.28427124023438
                    }
                },
                "velocity": {
                    "x": 0.22968320548534393,
                    "y": 7.730185508728027,
                    "z": -0.0629231408238411
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.877587080001831,
                "transform": {
                    "location": {
                        "x": 195.07421875,
                        "y": 5583.5556640625,
                        "z": 365.46514892578125
                    },
                    "rotation": {
                        "roll": 0.0005225572385825217,
                        "pitch": -0.11169407516717911,
                        "yaw": -0.1261596530675888
                    }
                },
                "velocity": {
                    "x": 1.8775750398635864,
                    "y": -0.0041635967791080475,
                    "z": -0.005266351625323296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8783915042877197,
                "transform": {
                    "location": {
                        "x": 192.40289306640625,
                        "y": 5586.8125,
                        "z": 365.4715270996094
                    },
                    "rotation": {
                        "roll": 0.00012827319733332843,
                        "pitch": 0.019042566418647766,
                        "yaw": -0.028381342068314552
                    }
                },
                "velocity": {
                    "x": 3.8783459663391113,
                    "y": -0.006785916164517403,
                    "z": -0.017519511282444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009237775229848921,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.3125408915802836e-05,
                    "y": -2.3593520381837152e-05,
                    "z": 0.0009231865988112986
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.530011177062988,
                "transform": {
                    "location": {
                        "x": 215.0799102783203,
                        "y": 5571.1962890625,
                        "z": 365.4944763183594
                    },
                    "rotation": {
                        "roll": 0.020177137106657028,
                        "pitch": -0.34179630875587463,
                        "yaw": 88.34901428222656
                    }
                },
                "velocity": {
                    "x": 0.12583087384700775,
                    "y": 4.528144836425781,
                    "z": -0.03277949243783951
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00022976096079219133,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": 7.242783794936258e-06,
                    "y": 1.1332404938002583e-05,
                    "z": -0.00022936698223929852
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3881064407760277e-05,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -6.530135578941554e-06,
                    "y": -2.3500690531363944e-06,
                    "z": 2.2850377717986703e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.292729377746582,
                "transform": {
                    "location": {
                        "x": 214.4978790283203,
                        "y": 5613.5224609375,
                        "z": 365.1844177246094
                    },
                    "rotation": {
                        "roll": 0.04076368361711502,
                        "pitch": -0.4078032374382019,
                        "yaw": 94.86422729492188
                    }
                },
                "velocity": {
                    "x": -1.2280998229980469,
                    "y": 14.239498138427734,
                    "z": -0.1028570756316185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.164158344268799,
                "transform": {
                    "location": {
                        "x": 215.34906005859375,
                        "y": 5629.76611328125,
                        "z": 365.0632629394531
                    },
                    "rotation": {
                        "roll": -0.00027466125902719796,
                        "pitch": 0.5571248531341553,
                        "yaw": -81.07091522216797
                    }
                },
                "velocity": {
                    "x": 0.4958210587501526,
                    "y": -3.1249868869781494,
                    "z": 0.022742824628949165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8973683714866638,
                "transform": {
                    "location": {
                        "x": 217.11351013183594,
                        "y": 5615.7255859375,
                        "z": 365.1630859375
                    },
                    "rotation": {
                        "roll": 0.004074892960488796,
                        "pitch": 0.22595630586147308,
                        "yaw": -84.26890563964844
                    }
                },
                "velocity": {
                    "x": 0.08573886752128601,
                    "y": -0.8932409286499023,
                    "z": 0.006281614303588867
                },
                "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": -0.015575876459479332,
        "expert_target_speed": 0,
        "target_point": [
            17.201635348681016,
            -9.953179352935596
        ],
        "target_point_next": [
            15.579769876312143,
            -60.92737879791835
        ]
    },
    "335": {
        "acceleration": [
            0.01034468412399292,
            -0.3801393508911133,
            -0.009296033531427383
        ],
        "angular_velocity": [
            0.0598757229745388,
            -0.020374523475766182,
            0.006799252703785896
        ],
        "forward_vector": [
            0.02928902395069599,
            -0.9995369911193848,
            0.00824215542525053
        ],
        "right_vector": [
            0.9995709657669067,
            0.029289186000823975,
            -0.00010109738650498912
        ],
        "location": [
            218.1363983154297,
            5597.3125,
            365.2916564941406
        ],
        "rotation": [
            0.005792650394141674,
            0.47224608063697815,
            -88.32156372070312
        ],
        "velocity": [
            0.04296854883432388,
            -1.4507207870483398,
            0.009485387243330479
        ],
        "speed": 1.4513569850877772,
        "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": 21.278013229370117,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -9.964108357962687e-06,
                -4.067308327648789e-05,
                0.000723698700312525
            ],
            "speed_kmh": 0.0026096732286292855,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6672444343566895,
                "transform": {
                    "location": {
                        "x": 213.95420837402344,
                        "y": 5529.94873046875,
                        "z": 365.8343811035156
                    },
                    "rotation": {
                        "roll": 0.09004120528697968,
                        "pitch": -1.4540379047393799,
                        "yaw": 90.56925964355469
                    }
                },
                "velocity": {
                    "x": -0.12458233535289764,
                    "y": 7.666064739227295,
                    "z": -0.050670724362134933
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.358817100524902,
                "transform": {
                    "location": {
                        "x": 176.97679138183594,
                        "y": 5583.57421875,
                        "z": 365.6317138671875
                    },
                    "rotation": {
                        "roll": 0.005950783845037222,
                        "pitch": -0.6943023800849915,
                        "yaw": 0.20118607580661774
                    }
                },
                "velocity": {
                    "x": 8.357996940612793,
                    "y": 0.02142084389925003,
                    "z": -0.11513690650463104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6297869682312012,
                "transform": {
                    "location": {
                        "x": 179.98475646972656,
                        "y": 5586.81982421875,
                        "z": 365.5881652832031
                    },
                    "rotation": {
                        "roll": -0.0310058556497097,
                        "pitch": -0.44338852167129517,
                        "yaw": 1.9209011793136597
                    }
                },
                "velocity": {
                    "x": 0.6295003294944763,
                    "y": 0.01765630766749382,
                    "z": -0.00701623922213912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4043734073638916,
                "transform": {
                    "location": {
                        "x": 252.69992065429688,
                        "y": 5576.72119140625,
                        "z": 365.6488342285156
                    },
                    "rotation": {
                        "roll": 0.00950440764427185,
                        "pitch": -0.6889338493347168,
                        "yaw": 179.15342712402344
                    }
                },
                "velocity": {
                    "x": -1.4042638540267944,
                    "y": 0.0035178365651518106,
                    "z": -0.01717950776219368
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0019732986111193895,
                "transform": {
                    "location": {
                        "x": 251.7926483154297,
                        "y": 5579.9833984375,
                        "z": 365.6510925292969
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.5179673433303833,
                        "yaw": 179.9995880126953
                    }
                },
                "velocity": {
                    "x": -0.001926285563968122,
                    "y": 3.7429323128890246e-05,
                    "z": -0.0004265332827344537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.228089332580566,
                "transform": {
                    "location": {
                        "x": 214.55804443359375,
                        "y": 5553.7080078125,
                        "z": 365.62445068359375
                    },
                    "rotation": {
                        "roll": 0.00022631834144704044,
                        "pitch": -0.6592361330986023,
                        "yaw": 88.30799865722656
                    }
                },
                "velocity": {
                    "x": 0.21429097652435303,
                    "y": 7.224672317504883,
                    "z": -0.058881595730781555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011564636370167136,
                "transform": {
                    "location": {
                        "x": 195.15945434570312,
                        "y": 5583.5546875,
                        "z": 365.4638977050781
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.007014603819698095,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": -0.0009334015776403248,
                    "y": -0.00014429676230065525,
                    "z": -0.000667344022076577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.057184934616089,
                "transform": {
                    "location": {
                        "x": 193.30421447753906,
                        "y": 5586.810546875,
                        "z": 365.4674987792969
                    },
                    "rotation": {
                        "roll": -3.051758903893642e-05,
                        "pitch": -0.30037805438041687,
                        "yaw": -0.06332395225763321
                    }
                },
                "velocity": {
                    "x": 3.0571651458740234,
                    "y": -0.005862539168447256,
                    "z": -0.009242276661098003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00163007783703506,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.6967227313434705e-05,
                    "y": 2.477968109815265e-06,
                    "z": 0.0016298529226332903
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.321080207824707,
                "transform": {
                    "location": {
                        "x": 215.114990234375,
                        "y": 5572.44189453125,
                        "z": 365.4842834472656
                    },
                    "rotation": {
                        "roll": 0.04824969545006752,
                        "pitch": -0.20513789355754852,
                        "yaw": 88.36949157714844
                    }
                },
                "velocity": {
                    "x": 0.14643216133117676,
                    "y": 5.3189191818237305,
                    "z": -0.039376579225063324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001254187081940472,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.5650875866413116e-06,
                    "y": 8.17585714685265e-06,
                    "z": -0.0001251421490451321
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007249091868288815,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -9.964108357962687e-06,
                    "y": -4.067308327648789e-05,
                    "z": 0.000723698700312525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.2884521484375,
                "transform": {
                    "location": {
                        "x": 214.15928649902344,
                        "y": 5617.078125,
                        "z": 365.1588439941406
                    },
                    "rotation": {
                        "roll": 0.05665067210793495,
                        "pitch": -0.41211310029029846,
                        "yaw": 95.82160186767578
                    }
                },
                "velocity": {
                    "x": -1.4979023933410645,
                    "y": 14.209342956542969,
                    "z": -0.10356827825307846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.651156902313232,
                "transform": {
                    "location": {
                        "x": 215.50460815429688,
                        "y": 5628.7880859375,
                        "z": 365.0707702636719
                    },
                    "rotation": {
                        "roll": 0.0015277094207704067,
                        "pitch": 0.6390529274940491,
                        "yaw": -81.0053482055664
                    }
                },
                "velocity": {
                    "x": 0.7312832474708557,
                    "y": -4.593182563781738,
                    "z": 0.03406531363725662
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.719217300415039,
                "transform": {
                    "location": {
                        "x": 217.14601135253906,
                        "y": 5615.39111328125,
                        "z": 365.1640625
                    },
                    "rotation": {
                        "roll": 0.006380223203450441,
                        "pitch": 0.597108781337738,
                        "yaw": -84.27537536621094
                    }
                },
                "velocity": {
                    "x": 0.16508179903030396,
                    "y": -1.7112278938293457,
                    "z": 0.012469177134335041
                },
                "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": -0.024785637855529785,
        "expert_target_speed": 0,
        "target_point": [
            16.854441280518998,
            -9.951009474858902
        ],
        "target_point_next": [
            15.238166857829086,
            -60.925386505460274
        ]
    },
    "340": {
        "acceleration": [
            0.014993846416473389,
            -0.5362391471862793,
            0.004479605704545975
        ],
        "angular_velocity": [
            -0.015417970716953278,
            -0.020750410854816437,
            0.02215784788131714
        ],
        "forward_vector": [
            0.029358040541410446,
            -0.999535858631134,
            0.008132963441312313
        ],
        "right_vector": [
            0.9995689392089844,
            0.029358191415667534,
            -0.000100758858025074
        ],
        "location": [
            218.14804077148438,
            5596.93408203125,
            365.29437255859375
        ],
        "rotation": [
            0.00577324815094471,
            0.4659896194934845,
            -88.31761169433594
        ],
        "velocity": [
            0.04667418450117111,
            -1.5711649656295776,
            0.010176267474889755
        ],
        "speed": 1.5718580816093548,
        "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": 20.964771270751953,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                2.6519130187807605e-05,
                6.330212636385113e-05,
                0.0004162416444160044
            ],
            "speed_kmh": 0.0015187031273374597,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.8299241065979,
                "transform": {
                    "location": {
                        "x": 213.94491577148438,
                        "y": 5531.48486328125,
                        "z": 365.8223876953125
                    },
                    "rotation": {
                        "roll": 0.13930608332157135,
                        "pitch": -1.3246400356292725,
                        "yaw": 89.79862976074219
                    }
                },
                "velocity": {
                    "x": 0.06540153175592422,
                    "y": 5.829367637634277,
                    "z": -0.0470392070710659
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8816583156585693,
                "transform": {
                    "location": {
                        "x": 178.63827514648438,
                        "y": 5583.58544921875,
                        "z": 365.6162414550781
                    },
                    "rotation": {
                        "roll": 0.013161667622625828,
                        "pitch": -1.623713493347168,
                        "yaw": -0.6153563857078552
                    }
                },
                "velocity": {
                    "x": 3.881129741668701,
                    "y": 0.030439304187893867,
                    "z": -0.05636418238282204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7493934631347656,
                "transform": {
                    "location": {
                        "x": 180.296630859375,
                        "y": 5586.822265625,
                        "z": 365.5869140625
                    },
                    "rotation": {
                        "roll": -0.030578605830669403,
                        "pitch": -0.7525297403335571,
                        "yaw": 1.6534745693206787
                    }
                },
                "velocity": {
                    "x": 1.7492552995681763,
                    "y": 0.0007201225962489843,
                    "z": -0.021975550800561905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.391417145729065,
                "transform": {
                    "location": {
                        "x": 252.3477325439453,
                        "y": 5576.720703125,
                        "z": 365.64453125
                    },
                    "rotation": {
                        "roll": 0.010802962817251682,
                        "pitch": -0.7204005122184753,
                        "yaw": 179.02444458007812
                    }
                },
                "velocity": {
                    "x": -1.3913472890853882,
                    "y": -0.0019061823841184378,
                    "z": -0.0138166518881917
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.231241226196289,
                "transform": {
                    "location": {
                        "x": 251.609375,
                        "y": 5579.9833984375,
                        "z": 365.6506042480469
                    },
                    "rotation": {
                        "roll": -0.001678466796875,
                        "pitch": -0.7045544385910034,
                        "yaw": 179.9832763671875
                    }
                },
                "velocity": {
                    "x": -1.231162667274475,
                    "y": 0.003251191694289446,
                    "z": -0.01352907158434391
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.916327476501465,
                "transform": {
                    "location": {
                        "x": 214.61085510253906,
                        "y": 5555.4697265625,
                        "z": 365.6103820800781
                    },
                    "rotation": {
                        "roll": 0.000608643633313477,
                        "pitch": -0.6271342635154724,
                        "yaw": 88.27215576171875
                    }
                },
                "velocity": {
                    "x": 0.20749057829380035,
                    "y": 6.912983417510986,
                    "z": -0.056512631475925446
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 195.15890502929688,
                        "y": 5583.5546875,
                        "z": 365.46484375
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.10686513036489487,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0066662998870015144,
                "transform": {
                    "location": {
                        "x": 193.7696075439453,
                        "y": 5586.81005859375,
                        "z": 365.4660949707031
                    },
                    "rotation": {
                        "roll": -0.0016784665640443563,
                        "pitch": -0.7501801252365112,
                        "yaw": -0.2480468899011612
                    }
                },
                "velocity": {
                    "x": 0.006555881351232529,
                    "y": 0.0012025247560814023,
                    "z": -0.00011791949509643018
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001312360167503357,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -3.227352863177657e-05,
                    "y": 2.3040625819703564e-05,
                    "z": 0.0013117609778419137
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.535468101501465,
                "transform": {
                    "location": {
                        "x": 215.15264892578125,
                        "y": 5573.7998046875,
                        "z": 365.4771423339844
                    },
                    "rotation": {
                        "roll": 0.02717064693570137,
                        "pitch": -0.2577781677246094,
                        "yaw": 88.38286590576172
                    }
                },
                "velocity": {
                    "x": 0.15248332917690277,
                    "y": 5.533327579498291,
                    "z": -0.02102731168270111
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00043869682122021914,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -7.0001929088903125e-06,
                    "y": -5.750457034991996e-07,
                    "z": -0.00043864056351594627
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00042186197242699564,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 2.6519130187807605e-05,
                    "y": 6.330212636385113e-05,
                    "z": 0.0004162416444160044
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.288800239562988,
                "transform": {
                    "location": {
                        "x": 213.76976013183594,
                        "y": 5620.62841796875,
                        "z": 365.13299560546875
                    },
                    "rotation": {
                        "roll": 0.06632938981056213,
                        "pitch": -0.4171469509601593,
                        "yaw": 96.60318756103516
                    }
                },
                "velocity": {
                    "x": -1.7405683994293213,
                    "y": 14.182016372680664,
                    "z": -0.1031176820397377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.351868629455566,
                "transform": {
                    "location": {
                        "x": 215.691162109375,
                        "y": 5627.50341796875,
                        "z": 365.0805358886719
                    },
                    "rotation": {
                        "roll": 0.02053017169237137,
                        "pitch": 0.5576097965240479,
                        "yaw": -81.57335662841797
                    }
                },
                "velocity": {
                    "x": 0.7600292563438416,
                    "y": -5.297476768493652,
                    "z": 0.039910878986120224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1189768314361572,
                "transform": {
                    "location": {
                        "x": 217.1951446533203,
                        "y": 5614.88427734375,
                        "z": 365.1675720214844
                    },
                    "rotation": {
                        "roll": 0.006935980636626482,
                        "pitch": 0.6389300227165222,
                        "yaw": -84.33828735351562
                    }
                },
                "velocity": {
                    "x": 0.20238842070102692,
                    "y": -2.1092474460601807,
                    "z": 0.013276500627398491
                },
                "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": -0.03174612671136856,
        "expert_target_speed": 0,
        "target_point": [
            16.475136684989984,
            -9.952735236446935
        ],
        "target_point_next": [
            14.85523604384278,
            -60.92699715930515
        ]
    },
    "345": {
        "acceleration": [
            0.014043226838111877,
            -0.5283355712890625,
            -0.0012922286987304688
        ],
        "angular_velocity": [
            -0.02362995222210884,
            -0.04197452589869499,
            0.01828518509864807
        ],
        "forward_vector": [
            0.02944418042898178,
            -0.9995330572128296,
            0.008166461251676083
        ],
        "right_vector": [
            0.999566376209259,
            0.029444249346852303,
            -0.00011174893006682396
        ],
        "location": [
            218.1598358154297,
            5596.52490234375,
            365.2972106933594
        ],
        "rotation": [
            0.006402955390512943,
            0.46790891885757446,
            -88.31267547607422
        ],
        "velocity": [
            0.05074889957904816,
            -1.7030891180038452,
            0.010626993142068386
        ],
        "speed": 1.70384506181507,
        "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": 20.629011154174805,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.8488168279873207e-05,
                3.463064422248863e-05,
                0.001131049357354641
            ],
            "speed_kmh": 0.004074229510575848,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.085761547088623,
                "transform": {
                    "location": {
                        "x": 213.96429443359375,
                        "y": 5532.984375,
                        "z": 365.8017883300781
                    },
                    "rotation": {
                        "roll": 0.04963940754532814,
                        "pitch": -0.3785700500011444,
                        "yaw": 89.14612579345703
                    }
                },
                "velocity": {
                    "x": 0.12801796197891235,
                    "y": 6.084181785583496,
                    "z": -0.05323841795325279
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2004214525222778,
                "transform": {
                    "location": {
                        "x": 179.03819274902344,
                        "y": 5583.59130859375,
                        "z": 365.61236572265625
                    },
                    "rotation": {
                        "roll": 0.05250773951411247,
                        "pitch": -1.868712306022644,
                        "yaw": -0.8338011503219604
                    }
                },
                "velocity": {
                    "x": 1.2003296613693237,
                    "y": -0.0020280489698052406,
                    "z": -0.01470946241170168
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1517693996429443,
                "transform": {
                    "location": {
                        "x": 180.8221893310547,
                        "y": 5586.82568359375,
                        "z": 365.5806579589844
                    },
                    "rotation": {
                        "roll": -0.02166747860610485,
                        "pitch": -0.786011278629303,
                        "yaw": 1.2902268171310425
                    }
                },
                "velocity": {
                    "x": 2.1515891551971436,
                    "y": 0.00047835579607635736,
                    "z": -0.027853425592184067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6732032299041748,
                "transform": {
                    "location": {
                        "x": 252.0242156982422,
                        "y": 5576.72314453125,
                        "z": 365.64056396484375
                    },
                    "rotation": {
                        "roll": 0.006912438664585352,
                        "pitch": -0.7141098976135254,
                        "yaw": 179.21615600585938
                    }
                },
                "velocity": {
                    "x": -1.6731231212615967,
                    "y": 0.0043516093865036964,
                    "z": -0.01578083075582981
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0686705112457275,
                "transform": {
                    "location": {
                        "x": 251.1934356689453,
                        "y": 5579.9833984375,
                        "z": 365.6463928222656
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.7420316934585571,
                        "yaw": 179.99884033203125
                    }
                },
                "velocity": {
                    "x": -2.0685479640960693,
                    "y": 0.0020049402955919504,
                    "z": -0.022427983582019806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.603039264678955,
                "transform": {
                    "location": {
                        "x": 214.66140747070312,
                        "y": 5557.16064453125,
                        "z": 365.59686279296875
                    },
                    "rotation": {
                        "roll": -0.00012206970859551802,
                        "pitch": -0.6031534671783447,
                        "yaw": 88.30023956298828
                    }
                },
                "velocity": {
                    "x": 0.19755315780639648,
                    "y": 6.599876403808594,
                    "z": -0.0522623136639595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001407805975759402,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.46502685546875
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.13073664903640747,
                        "yaw": -0.0450744591653347
                    }
                },
                "velocity": {
                    "x": -3.751206895685755e-05,
                    "y": 3.4750581107800826e-05,
                    "z": 0.00013116560876369476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004018090199679136,
                "transform": {
                    "location": {
                        "x": 193.771240234375,
                        "y": 5586.81005859375,
                        "z": 365.46612548828125
                    },
                    "rotation": {
                        "roll": 0.00032851469586603343,
                        "pitch": -0.41497495770454407,
                        "yaw": -0.2481689304113388
                    }
                },
                "velocity": {
                    "x": -0.0037907313089817762,
                    "y": -0.00020410942670423537,
                    "z": 0.0013167167780920863
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015875597018748522,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.5143772290903144e-05,
                    "y": -4.682320650317706e-06,
                    "z": 0.0015873536467552185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.312962532043457,
                "transform": {
                    "location": {
                        "x": 215.19679260253906,
                        "y": 5575.42529296875,
                        "z": 365.4652404785156
                    },
                    "rotation": {
                        "roll": -0.0964660570025444,
                        "pitch": 0.005867131985723972,
                        "yaw": 88.4326400756836
                    }
                },
                "velocity": {
                    "x": 0.18927928805351257,
                    "y": 7.3102617263793945,
                    "z": -0.060553569346666336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012288865400478244,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -5.100909675093135e-06,
                    "y": 1.060262911778409e-05,
                    "z": -0.00012232411245349795
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011317303869873285,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.8488168279873207e-05,
                    "y": 3.463064422248863e-05,
                    "z": 0.001131049357354641
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.291592597961426,
                "transform": {
                    "location": {
                        "x": 213.32452392578125,
                        "y": 5624.173828125,
                        "z": 365.1068420410156
                    },
                    "rotation": {
                        "roll": 0.034747734665870667,
                        "pitch": -0.42282283306121826,
                        "yaw": 97.39104461669922
                    }
                },
                "velocity": {
                    "x": -1.8455519676208496,
                    "y": 14.17154312133789,
                    "z": -0.10442980378866196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.170864224433899,
                "transform": {
                    "location": {
                        "x": 215.83132934570312,
                        "y": 5626.5244140625,
                        "z": 365.0865783691406
                    },
                    "rotation": {
                        "roll": -0.0007019055774435401,
                        "pitch": -0.0562739260494709,
                        "yaw": -81.31761169433594
                    }
                },
                "velocity": {
                    "x": 0.16086708009243011,
                    "y": -1.1597384214401245,
                    "z": 0.007178992964327335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3448808491230011,
                "transform": {
                    "location": {
                        "x": 217.22085571289062,
                        "y": 5614.6171875,
                        "z": 365.1719055175781
                    },
                    "rotation": {
                        "roll": -0.00027465837774798274,
                        "pitch": -0.044922150671482086,
                        "yaw": -84.3675537109375
                    }
                },
                "velocity": {
                    "x": 0.03305245190858841,
                    "y": -0.3432886302471161,
                    "z": 0.0018018721602857113
                },
                "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": -0.040595099329948425,
        "expert_target_speed": 0,
        "target_point": [
            16.064939680070893,
            -9.953879163223105
        ],
        "target_point_next": [
            14.44069911412744,
            -60.92800298356244
        ]
    },
    "350": {
        "acceleration": [
            0.02339489758014679,
            -0.8069348335266113,
            0.006377026438713074
        ],
        "angular_velocity": [
            -0.05031532794237137,
            0.00704325782135129,
            0.02966293692588806
        ],
        "forward_vector": [
            0.02954612858593464,
            -0.9995284676551819,
            0.00835790392011404
        ],
        "right_vector": [
            0.999563455581665,
            0.02954612672328949,
            -0.00012363167479634285
        ],
        "location": [
            218.1735076904297,
            5596.07666015625,
            365.3002624511719
        ],
        "rotation": [
            0.007083820644766092,
            0.4788782000541687,
            -88.30682373046875
        ],
        "velocity": [
            0.05623304843902588,
            -1.8794010877609253,
            0.013934850692749023
        ],
        "speed": 1.8802421664279565,
        "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": 20.263845443725586,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -3.5485998523654416e-05,
                -2.6185954993707128e-05,
                -0.00010504959936952218
            ],
            "speed_kmh": 0.00041015327306476645,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.5039381980896,
                "transform": {
                    "location": {
                        "x": 213.99327087402344,
                        "y": 5534.3349609375,
                        "z": 365.79217529296875
                    },
                    "rotation": {
                        "roll": 0.01545569859445095,
                        "pitch": -0.6545438170433044,
                        "yaw": 88.77823638916016
                    }
                },
                "velocity": {
                    "x": 0.11965575814247131,
                    "y": 4.502170085906982,
                    "z": -0.040080975741147995
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7958779335021973,
                "transform": {
                    "location": {
                        "x": 179.43109130859375,
                        "y": 5583.5888671875,
                        "z": 365.59765625
                    },
                    "rotation": {
                        "roll": 0.014576534740626812,
                        "pitch": -0.6348250508308411,
                        "yaw": -0.6929932236671448
                    }
                },
                "velocity": {
                    "x": 1.7957340478897095,
                    "y": -0.00683746300637722,
                    "z": -0.02168191410601139
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3695521652698517,
                "transform": {
                    "location": {
                        "x": 181.11624145507812,
                        "y": 5586.8271484375,
                        "z": 365.5750427246094
                    },
                    "rotation": {
                        "roll": -0.005523680709302425,
                        "pitch": -0.5506839752197266,
                        "yaw": 0.9883323907852173
                    }
                },
                "velocity": {
                    "x": 0.3695106506347656,
                    "y": 0.002945359330624342,
                    "z": -0.004692086949944496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.606637716293335,
                "transform": {
                    "location": {
                        "x": 251.669677734375,
                        "y": 5576.7265625,
                        "z": 365.6365661621094
                    },
                    "rotation": {
                        "roll": 0.0046770949847996235,
                        "pitch": -0.6941452622413635,
                        "yaw": 179.51446533203125
                    }
                },
                "velocity": {
                    "x": -1.6065714359283447,
                    "y": 0.0038793960120528936,
                    "z": -0.014067811891436577
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7737526893615723,
                "transform": {
                    "location": {
                        "x": 250.66835021972656,
                        "y": 5579.9833984375,
                        "z": 365.63995361328125
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -0.6395583748817444,
                        "yaw": 179.9833984375
                    }
                },
                "velocity": {
                    "x": -1.7736409902572632,
                    "y": 0.0018091597594320774,
                    "z": -0.01982557214796543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.234704494476318,
                "transform": {
                    "location": {
                        "x": 214.70913696289062,
                        "y": 5558.76171875,
                        "z": 365.5842590332031
                    },
                    "rotation": {
                        "roll": -0.0013122456148266792,
                        "pitch": -0.615324854850769,
                        "yaw": 88.26824188232422
                    }
                },
                "velocity": {
                    "x": 0.18681730329990387,
                    "y": 6.231712341308594,
                    "z": -0.04897585138678551
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004571450990624726,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 2.3030526790535077e-05,
                    "y": -2.3290989702218212e-05,
                    "z": 0.0004559701483231038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013926866231486201,
                "transform": {
                    "location": {
                        "x": 193.7726593017578,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.2622655928134918,
                        "yaw": -0.2481689602136612
                    }
                },
                "velocity": {
                    "x": -0.000829477736260742,
                    "y": 8.150821668095887e-05,
                    "z": 0.0011157504050061107
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008788075065240264,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.3249835066962987e-05,
                    "y": 7.879402232902066e-07,
                    "z": 0.0008784995879977942
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.508686065673828,
                "transform": {
                    "location": {
                        "x": 215.24664306640625,
                        "y": 5577.40869140625,
                        "z": 365.45025634765625
                    },
                    "rotation": {
                        "roll": -0.0857238695025444,
                        "pitch": -0.141876682639122,
                        "yaw": 88.57736206054688
                    }
                },
                "velocity": {
                    "x": 0.20294538140296936,
                    "y": 8.506036758422852,
                    "z": -0.062457818537950516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3188692719268147e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -5.151648110768292e-06,
                    "y": 5.71543239402672e-07,
                    "z": -1.2127467016398441e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011393146269256249,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -3.5485998523654416e-05,
                    "y": -2.6185954993707128e-05,
                    "z": -0.00010504959936952218
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4439,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.290877342224121,
                "transform": {
                    "location": {
                        "x": 212.8219451904297,
                        "y": 5627.7099609375,
                        "z": 365.0803527832031
                    },
                    "rotation": {
                        "roll": 0.04974530637264252,
                        "pitch": -0.4292568862438202,
                        "yaw": 98.41455841064453
                    }
                },
                "velocity": {
                    "x": -2.1209444999694824,
                    "y": 14.132206916809082,
                    "z": -0.10727114230394363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1740703582763672,
                "transform": {
                    "location": {
                        "x": 215.8496856689453,
                        "y": 5626.39697265625,
                        "z": 365.0880432128906
                    },
                    "rotation": {
                        "roll": 0.004693756345659494,
                        "pitch": 0.2797645330429077,
                        "yaw": -81.29959106445312
                    }
                },
                "velocity": {
                    "x": 0.16640764474868774,
                    "y": -1.1621899604797363,
                    "z": 0.008014220744371414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1359025239944458,
                "transform": {
                    "location": {
                        "x": 217.24053955078125,
                        "y": 5614.41552734375,
                        "z": 365.1717529296875
                    },
                    "rotation": {
                        "roll": 0.0010610924800857902,
                        "pitch": 0.39598703384399414,
                        "yaw": -84.38353729248047
                    }
                },
                "velocity": {
                    "x": 0.10930249094963074,
                    "y": -1.130609154701233,
                    "z": 0.007105693686753511
                },
                "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": -0.05727440118789673,
        "expert_target_speed": 0,
        "target_point": [
            15.615483440517131,
            -9.955924023952097
        ],
        "target_point_next": [
            13.98609259383572,
            -60.929883475186536
        ]
    },
    "355": {
        "acceleration": [
            0.0030972063541412354,
            -0.6983327865600586,
            0.004094131290912628
        ],
        "angular_velocity": [
            -0.03503832966089249,
            0.013183675706386566,
            -0.06629636883735657
        ],
        "forward_vector": [
            0.029479002580046654,
            -0.9995289444923401,
            0.008537784218788147
        ],
        "right_vector": [
            0.9995654225349426,
            0.029478251934051514,
            -0.0002136649563908577
        ],
        "location": [
            218.18804931640625,
            5595.5830078125,
            365.3038330078125
        ],
        "rotation": [
            0.012242546305060387,
            0.4891849458217621,
            -88.3106689453125
        ],
        "velocity": [
            0.05945681408047676,
            -2.067216634750366,
            0.014134092256426811
        ],
        "speed": 2.0680714996656255,
        "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": 19.865951538085938,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 215.1795196533203,
                        "y": 5508.5390625,
                        "z": 366.0882263183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5127900838851929,
                        "yaw": 96.25312042236328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.2053327560424805,
                "transform": {
                    "location": {
                        "x": 214.02366638183594,
                        "y": 5535.50439453125,
                        "z": 365.78131103515625
                    },
                    "rotation": {
                        "roll": 0.0055391015484929085,
                        "pitch": -0.5387516021728516,
                        "yaw": 88.62391662597656
                    }
                },
                "velocity": {
                    "x": 0.14401884377002716,
                    "y": 5.203179836273193,
                    "z": -0.04087098687887192
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7025842666625977,
                "transform": {
                    "location": {
                        "x": 179.88827514648438,
                        "y": 5583.5869140625,
                        "z": 365.5918273925781
                    },
                    "rotation": {
                        "roll": 0.0021186184603720903,
                        "pitch": -0.6082761287689209,
                        "yaw": -0.5774535536766052
                    }
                },
                "velocity": {
                    "x": 1.7024421691894531,
                    "y": -0.003687326330691576,
                    "z": -0.02168750762939453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4186562299728394,
                "transform": {
                    "location": {
                        "x": 181.35281372070312,
                        "y": 5586.828125,
                        "z": 365.5736999511719
                    },
                    "rotation": {
                        "roll": -0.01513671688735485,
                        "pitch": -0.762938916683197,
                        "yaw": 0.8936638236045837
                    }
                },
                "velocity": {
                    "x": 1.4185422658920288,
                    "y": -0.0026969206519424915,
                    "z": -0.017775315791368484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8226981163024902,
                "transform": {
                    "location": {
                        "x": 251.29827880859375,
                        "y": 5576.7333984375,
                        "z": 365.63238525390625
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.6752597689628601,
                        "yaw": -179.94680786132812
                    }
                },
                "velocity": {
                    "x": -1.8225959539413452,
                    "y": 0.00959410984069109,
                    "z": -0.016741322353482246
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015242518857121468,
                "transform": {
                    "location": {
                        "x": 250.6060028076172,
                        "y": 5579.9833984375,
                        "z": 365.63812255859375
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.5130017995834351,
                        "yaw": 179.91127014160156
                    }
                },
                "velocity": {
                    "x": 0.0008253956912085414,
                    "y": -3.699250737554394e-05,
                    "z": 0.0012808970641344786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.948996067047119,
                "transform": {
                    "location": {
                        "x": 214.75498962402344,
                        "y": 5560.28125,
                        "z": 365.5723876953125
                    },
                    "rotation": {
                        "roll": -0.0009155355510301888,
                        "pitch": -0.5995813012123108,
                        "yaw": 88.29901123046875
                    }
                },
                "velocity": {
                    "x": 0.17824316024780273,
                    "y": 5.946130752563477,
                    "z": -0.04811922833323479
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007182274712249637,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 1.5794821592862718e-05,
                    "y": 2.0656629203585908e-05,
                    "z": 0.0007177566294558346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001511079492047429,
                "transform": {
                    "location": {
                        "x": 193.77296447753906,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.23254060745239258,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": -0.00023431627778336406,
                    "y": 0.00012996287841815501,
                    "z": 0.0014871337916702032
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014413082972168922,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.267271156597417e-05,
                    "y": -1.2619490235010744e-06,
                    "z": 0.0014411293668672442
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.712471008300781,
                "transform": {
                    "location": {
                        "x": 215.3015594482422,
                        "y": 5579.70654296875,
                        "z": 365.4320983886719
                    },
                    "rotation": {
                        "roll": -0.0778503343462944,
                        "pitch": -0.29834264516830444,
                        "yaw": 88.66508483886719
                    }
                },
                "velocity": {
                    "x": 0.22458110749721527,
                    "y": 9.70944595336914,
                    "z": -0.09113912284374237
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015807553427293897,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -6.991047030169284e-06,
                    "y": 2.806098109431332e-07,
                    "z": -0.00015792061458341777
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.229926347732544,
                "transform": {
                    "location": {
                        "x": 215.9119415283203,
                        "y": 5625.9609375,
                        "z": 365.0915832519531
                    },
                    "rotation": {
                        "roll": 0.00865934044122696,
                        "pitch": 0.5284995436668396,
                        "yaw": -81.43144226074219
                    }
                },
                "velocity": {
                    "x": 0.31553852558135986,
                    "y": -2.2074272632598877,
                    "z": 0.01648331619799137
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.959167242050171,
                "transform": {
                    "location": {
                        "x": 217.27796936035156,
                        "y": 5614.025390625,
                        "z": 365.1734924316406
                    },
                    "rotation": {
                        "roll": 0.006178705021739006,
                        "pitch": 0.6510262489318848,
                        "yaw": -84.41201782226562
                    }
                },
                "velocity": {
                    "x": 0.1867929846048355,
                    "y": -1.9501925706863403,
                    "z": 0.013919343240559101
                },
                "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": -0.08127249032258987,
        "expert_target_speed": 0,
        "target_point": [
            15.122300584871912,
            -9.95483502148822
        ],
        "target_point_next": [
            13.496410035949365,
            -60.928906240003485
        ]
    },
    "360": {
        "acceleration": [
            -0.07209189236164093,
            0.2049112319946289,
            0.005184356123209
        ],
        "angular_velocity": [
            0.26047441363334656,
            0.08817458152770996,
            -0.4239484667778015
        ],
        "forward_vector": [
            0.02834533341228962,
            -0.9995649456977844,
            0.008151440881192684
        ],
        "right_vector": [
            0.9995981454849243,
            0.028343474492430687,
            -0.00034326963941566646
        ],
        "location": [
            218.2020263671875,
            5595.05029296875,
            365.3076171875
        ],
        "rotation": [
            0.01966855488717556,
            0.467048317193985,
            -88.37566375732422
        ],
        "velocity": [
            0.04939566180109978,
            -2.1357734203338623,
            0.014414738863706589
        ],
        "speed": 2.136344549554068,
        "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": 19.442602157592773,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.171432450064458e-05,
                3.263476173742674e-05,
                0.0009762573754414916
            ],
            "speed_kmh": 0.0035167425384355234,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.89703369140625,
                        "y": 5511.46484375,
                        "z": 366.0139465332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.126815319061279,
                "transform": {
                    "location": {
                        "x": 214.0594482421875,
                        "y": 5536.8427734375,
                        "z": 365.7682800292969
                    },
                    "rotation": {
                        "roll": 0.004269968718290329,
                        "pitch": -0.2683103084564209,
                        "yaw": 88.47825622558594
                    }
                },
                "velocity": {
                    "x": 0.17447513341903687,
                    "y": 6.124125957489014,
                    "z": -0.05011720582842827
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2413573265075684,
                "transform": {
                    "location": {
                        "x": 180.33499145507812,
                        "y": 5583.5849609375,
                        "z": 365.5869445800781
                    },
                    "rotation": {
                        "roll": 0.002525745891034603,
                        "pitch": -0.7269301414489746,
                        "yaw": -0.4844970405101776
                    }
                },
                "velocity": {
                    "x": 2.2411673069000244,
                    "y": -0.005098702386021614,
                    "z": -0.02874191291630268
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2329511642456055,
                "transform": {
                    "location": {
                        "x": 181.8175811767578,
                        "y": 5586.82861328125,
                        "z": 365.5680847167969
                    },
                    "rotation": {
                        "roll": -0.013519288040697575,
                        "pitch": -0.7866260409355164,
                        "yaw": 0.7015231847763062
                    }
                },
                "velocity": {
                    "x": 2.2327792644500732,
                    "y": -0.0036110058426856995,
                    "z": -0.027470821514725685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.18447986245155334,
                "transform": {
                    "location": {
                        "x": 250.9810028076172,
                        "y": 5576.7333984375,
                        "z": 365.6290588378906
                    },
                    "rotation": {
                        "roll": -0.003723145229741931,
                        "pitch": -0.7023961544036865,
                        "yaw": -179.94393920898438
                    }
                },
                "velocity": {
                    "x": -0.18441523611545563,
                    "y": -0.00015991974214557558,
                    "z": -0.004879789426922798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020559599215630442,
                "transform": {
                    "location": {
                        "x": 250.60655212402344,
                        "y": 5579.9833984375,
                        "z": 365.63909912109375
                    },
                    "rotation": {
                        "roll": 0.00019653636263683438,
                        "pitch": -0.6210622191429138,
                        "yaw": 179.91122436523438
                    }
                },
                "velocity": {
                    "x": 1.0174885574087966e-05,
                    "y": 3.911453313776292e-05,
                    "z": 0.00020158432016614825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.663279056549072,
                "transform": {
                    "location": {
                        "x": 214.79827880859375,
                        "y": 5561.73193359375,
                        "z": 365.5608825683594
                    },
                    "rotation": {
                        "roll": -0.00033571082167327404,
                        "pitch": -0.5888373851776123,
                        "yaw": 88.26667022705078
                    }
                },
                "velocity": {
                    "x": 0.1709205061197281,
                    "y": 5.660524845123291,
                    "z": -0.04442889243364334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001949872385011986,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.04970557813067e-06,
                    "y": 2.4040300559136085e-06,
                    "z": 0.0001949070137925446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010906565003097057,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.2271106094121933,
                        "yaw": -0.248199462890625
                    }
                },
                "velocity": {
                    "x": -4.3368039769120514e-05,
                    "y": -8.063447603490204e-05,
                    "z": 0.0010868067620322108
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000824243004899472,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.167381353501696e-05,
                    "y": -9.69738084677374e-06,
                    "z": 0.0008239009184762836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.557462692260742,
                "transform": {
                    "location": {
                        "x": 215.35116577148438,
                        "y": 5582.2119140625,
                        "z": 365.4088134765625
                    },
                    "rotation": {
                        "roll": -0.049285873770713806,
                        "pitch": -0.33489781618118286,
                        "yaw": 88.97006225585938
                    }
                },
                "velocity": {
                    "x": 0.1722763180732727,
                    "y": 10.555622100830078,
                    "z": -0.09580621868371964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8052909328835085e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.4907661352481227e-05,
                    "y": 1.2976057405467145e-05,
                    "z": 1.9908524336642586e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009768729796633124,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.171432450064458e-05,
                    "y": 3.263476173742674e-05,
                    "z": 0.0009762573754414916
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002182456897571683,
                "transform": {
                    "location": {
                        "x": 215.96429443359375,
                        "y": 5625.59423828125,
                        "z": 365.0938720703125
                    },
                    "rotation": {
                        "roll": -0.002349846763536334,
                        "pitch": 0.1537475436925888,
                        "yaw": -81.39315032958984
                    }
                },
                "velocity": {
                    "x": -0.00034131272695958614,
                    "y": -0.0021375108044594526,
                    "z": -0.0002786959521472454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.251594305038452,
                "transform": {
                    "location": {
                        "x": 217.32327270507812,
                        "y": 5613.484375,
                        "z": 365.1775817871094
                    },
                    "rotation": {
                        "roll": 0.034727878868579865,
                        "pitch": 0.6059470176696777,
                        "yaw": -84.68084716796875
                    }
                },
                "velocity": {
                    "x": 0.17536064982414246,
                    "y": -2.244706392288208,
                    "z": 0.014804201200604439
                },
                "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": -0.11217115074396133,
        "expert_target_speed": 10.0,
        "target_point": [
            14.600681578573841,
            -9.936553320090358
        ],
        "target_point_next": [
            13.032591094017954,
            -60.912435351690235
        ]
    },
    "365": {
        "acceleration": [
            -0.05109913647174835,
            0.6196069717407227,
            -0.0016283057630062103
        ],
        "angular_velocity": [
            0.18296143412590027,
            0.04188481718301773,
            -0.7875873446464539
        ],
        "forward_vector": [
            0.025450047105550766,
            -0.9996521472930908,
            0.006920758634805679
        ],
        "right_vector": [
            0.9996760487556458,
            0.025447381660342216,
            -0.00047284524771384895
        ],
        "location": [
            218.21218872070312,
            5594.53466796875,
            365.3115234375
        ],
        "rotation": [
            0.027092687785625458,
            0.39653342962265015,
            -88.5416259765625
        ],
        "velocity": [
            0.030107345432043076,
            -1.9991271495819092,
            0.013692865148186684
        ],
        "speed": 1.9993538487332485,
        "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": 19.040252685546875,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -4.269517830834957e-06,
                -1.2242909178894479e-05,
                0.0005626189522445202
            ],
            "speed_kmh": 0.0020259660192855663,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.62327575683594,
                        "y": 5514.6484375,
                        "z": 365.9610900878906
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.34036922454834,
                "transform": {
                    "location": {
                        "x": 214.107421875,
                        "y": 5538.54736328125,
                        "z": 365.7525634765625
                    },
                    "rotation": {
                        "roll": 0.0038084813859313726,
                        "pitch": -0.08606038242578506,
                        "yaw": 88.39031219482422
                    }
                },
                "velocity": {
                    "x": 0.20931659638881683,
                    "y": 7.337131023406982,
                    "z": -0.06096574664115906
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.22917361557483673,
                "transform": {
                    "location": {
                        "x": 180.82742309570312,
                        "y": 5583.58349609375,
                        "z": 365.5823059082031
                    },
                    "rotation": {
                        "roll": 0.00721800047904253,
                        "pitch": -0.9272459149360657,
                        "yaw": -0.4432677924633026
                    }
                },
                "velocity": {
                    "x": 0.2291553020477295,
                    "y": 0.00045694471918977797,
                    "z": -0.0028599929064512253
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4423487186431885,
                "transform": {
                    "location": {
                        "x": 182.32827758789062,
                        "y": 5586.830078125,
                        "z": 365.5605773925781
                    },
                    "rotation": {
                        "roll": -0.006744384765625,
                        "pitch": -0.6500495672225952,
                        "yaw": 0.44826751947402954
                    }
                },
                "velocity": {
                    "x": 1.4422065019607544,
                    "y": -0.008830847218632698,
                    "z": -0.018222298473119736
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009442828013561666,
                "transform": {
                    "location": {
                        "x": 250.98085021972656,
                        "y": 5576.7333984375,
                        "z": 365.6289367675781
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.6948829293251038,
                        "yaw": -179.9442596435547
                    }
                },
                "velocity": {
                    "x": 0.00013304241292644292,
                    "y": 9.269653673982248e-05,
                    "z": 0.0009302564430981874
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001371425314573571,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.63922119140625
                    },
                    "rotation": {
                        "roll": 0.00023971697373781353,
                        "pitch": -0.6340327858924866,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": 1.9565672118915245e-05,
                    "y": 0.00012922167661599815,
                    "z": -4.155739225097932e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.367568492889404,
                "transform": {
                    "location": {
                        "x": 214.8397674560547,
                        "y": 5563.10791015625,
                        "z": 365.55010986328125
                    },
                    "rotation": {
                        "roll": -0.0005492990603670478,
                        "pitch": -0.5900258421897888,
                        "yaw": 88.29822540283203
                    }
                },
                "velocity": {
                    "x": 0.1605040729045868,
                    "y": 5.364992141723633,
                    "z": -0.04348406568169594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000544561306014657,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.920305738982279e-06,
                    "y": -1.1724305295501836e-05,
                    "z": 0.0005444028647616506
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010630302131175995,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 4.132043613935821e-05,
                    "y": -3.319733150419779e-05,
                    "z": 0.0010617079678922892
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016722144791856408,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.761215000646189e-05,
                    "y": 1.2890461221104488e-05,
                    "z": 0.0016719368286430836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.55914306640625,
                "transform": {
                    "location": {
                        "x": 215.3946075439453,
                        "y": 5584.986328125,
                        "z": 365.38525390625
                    },
                    "rotation": {
                        "roll": -0.017791742458939552,
                        "pitch": -0.19354023039340973,
                        "yaw": 89.227294921875
                    }
                },
                "velocity": {
                    "x": 0.15788798034191132,
                    "y": 11.557737350463867,
                    "z": -0.08692044764757156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00031946165836416185,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -6.722249054291751e-06,
                    "y": 1.103269710256427e-06,
                    "z": -0.00031938901520334184
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005627683131024241,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.269517830834957e-06,
                    "y": -1.2242909178894479e-05,
                    "z": 0.0005626189522445202
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3090825080871582,
                "transform": {
                    "location": {
                        "x": 215.99171447753906,
                        "y": 5625.4013671875,
                        "z": 365.09564208984375
                    },
                    "rotation": {
                        "roll": 0.0067796711809933186,
                        "pitch": 0.47010141611099243,
                        "yaw": -81.4752426147461
                    }
                },
                "velocity": {
                    "x": 0.18385620415210724,
                    "y": -1.2960736751556396,
                    "z": 0.00933137908577919
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9833132028579712,
                "transform": {
                    "location": {
                        "x": 217.36741638183594,
                        "y": 5612.92919921875,
                        "z": 365.18206787109375
                    },
                    "rotation": {
                        "roll": 0.01571904867887497,
                        "pitch": 0.4266340732574463,
                        "yaw": -84.94264221191406
                    }
                },
                "velocity": {
                    "x": 0.15268154442310333,
                    "y": -1.9773824214935303,
                    "z": 0.013346499763429165
                },
                "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": -0.14680223166942596,
        "expert_target_speed": 10.0,
        "target_point": [
            14.113683264070097,
            -9.891259886588621
        ],
        "target_point_next": [
            12.693242380308737,
            -60.87146981517837
        ]
    },
    "370": {
        "acceleration": [
            -0.05890753120183945,
            0.26392459869384766,
            0.0035697966814041138
        ],
        "angular_velocity": [
            0.0060553825460374355,
            0.008460662327706814,
            -0.911971390247345
        ],
        "forward_vector": [
            0.021747374907135963,
            -0.9997413158416748,
            0.006659457925707102
        ],
        "right_vector": [
            0.9997634887695312,
            0.021745139732956886,
            -0.00040781774441711605
        ],
        "location": [
            218.2188262939453,
            5594.044921875,
            365.31500244140625
        ],
        "rotation": [
            0.02336675487458706,
            0.38156166672706604,
            -88.75384521484375
        ],
        "velocity": [
            0.017687661573290825,
            -1.9257656335830688,
            0.013792715035378933
        ],
        "speed": 1.9258468601790564,
        "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": 18.665252685546875,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.7803571608965285e-05,
                5.7140434364555404e-05,
                0.0009763499838300049
            ],
            "speed_kmh": 0.0035214575226386424,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.419677734375,
                        "y": 5517.447265625,
                        "z": 365.9342346191406
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.009849548339844,
                "transform": {
                    "location": {
                        "x": 214.1658477783203,
                        "y": 5540.57666015625,
                        "z": 365.7359313964844
                    },
                    "rotation": {
                        "roll": 0.004430823028087616,
                        "pitch": -0.11001385003328323,
                        "yaw": 88.32044982910156
                    }
                },
                "velocity": {
                    "x": 0.2632133662700653,
                    "y": 9.00570011138916,
                    "z": -0.07395808398723602
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1789870262145996,
                "transform": {
                    "location": {
                        "x": 180.98757934570312,
                        "y": 5583.58349609375,
                        "z": 365.57958984375
                    },
                    "rotation": {
                        "roll": 0.0025911498814821243,
                        "pitch": -0.8550440073013306,
                        "yaw": -0.416412353515625
                    }
                },
                "velocity": {
                    "x": 1.1788973808288574,
                    "y": -0.0018571120453998446,
                    "z": -0.014419441111385822
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2377512454986572,
                "transform": {
                    "location": {
                        "x": 182.532958984375,
                        "y": 5586.830078125,
                        "z": 365.5582580566406
                    },
                    "rotation": {
                        "roll": -0.004760742653161287,
                        "pitch": -0.6642768383026123,
                        "yaw": 0.3426617681980133
                    }
                },
                "velocity": {
                    "x": 1.2376562356948853,
                    "y": -0.002839480061084032,
                    "z": -0.015067128464579582
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010169451124966145,
                "transform": {
                    "location": {
                        "x": 250.98069763183594,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0003662108210846782,
                        "pitch": -0.6677192449569702,
                        "yaw": -179.9442901611328
                    }
                },
                "velocity": {
                    "x": -1.0706484232514413e-07,
                    "y": -7.504263976443326e-06,
                    "z": 0.0010169174056500196
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.20534667884931e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -2.0493342162808403e-05,
                    "y": -2.4056680558715016e-06,
                    "z": 4.7789111704332754e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.115296840667725,
                "transform": {
                    "location": {
                        "x": 214.8788299560547,
                        "y": 5564.416015625,
                        "z": 365.539794921875
                    },
                    "rotation": {
                        "roll": -0.0008544844458810985,
                        "pitch": -0.5799786448478699,
                        "yaw": 88.26177978515625
                    }
                },
                "velocity": {
                    "x": 0.15343424677848816,
                    "y": 5.112831115722656,
                    "z": -0.04094945266842842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00029360843473114073,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.950722879788373e-06,
                    "y": 4.504217031353619e-06,
                    "z": 0.0002935135562438518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006405980093404651,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 3.5329721868038177e-06,
                    "y": 1.6263769794022664e-05,
                    "z": 0.0006403817678801715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013250751653686166,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -3.176428435835987e-05,
                    "y": -1.3526733710023109e-05,
                    "z": 0.0013246253365650773
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.439912796020508,
                "transform": {
                    "location": {
                        "x": 215.4246826171875,
                        "y": 5587.99072265625,
                        "z": 365.36383056640625
                    },
                    "rotation": {
                        "roll": -0.0564575120806694,
                        "pitch": -0.1713830977678299,
                        "yaw": 89.60370635986328
                    }
                },
                "velocity": {
                    "x": 0.08030518144369125,
                    "y": 12.439367294311523,
                    "z": -0.08428486436605453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.581100701121613e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -6.852000751678133e-06,
                    "y": 1.3323701750778127e-06,
                    "z": -8.552662620786577e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009781826520338655,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.7803571608965285e-05,
                    "y": 5.7140434364555404e-05,
                    "z": 0.0009763499838300049
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1694517135620117,
                "transform": {
                    "location": {
                        "x": 216.05406188964844,
                        "y": 5624.9638671875,
                        "z": 365.09906005859375
                    },
                    "rotation": {
                        "roll": 0.007795759942382574,
                        "pitch": 0.5451924800872803,
                        "yaw": -81.50182342529297
                    }
                },
                "velocity": {
                    "x": 0.30510589480400085,
                    "y": -2.147834539413452,
                    "z": 0.015444316901266575
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6761175394058228,
                "transform": {
                    "location": {
                        "x": 217.40155029296875,
                        "y": 5612.4921875,
                        "z": 365.1855773925781
                    },
                    "rotation": {
                        "roll": 0.004831850063055754,
                        "pitch": 0.2974069118499756,
                        "yaw": -85.10315704345703
                    }
                },
                "velocity": {
                    "x": 0.12773381173610687,
                    "y": -1.671189785003662,
                    "z": 0.013371018692851067
                },
                "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": -0.17940036952495575,
        "expert_target_speed": 10.0,
        "target_point": [
            13.660436844504112,
            -9.834917622472922
        ],
        "target_point_next": [
            12.428773115680784,
            -60.82003761964899
        ]
    },
    "375": {
        "acceleration": [
            -0.015461258590221405,
            1.359877586364746,
            0.004731547087430954
        ],
        "angular_velocity": [
            0.2429661899805069,
            -0.0529954619705677,
            -0.8536028265953064
        ],
        "forward_vector": [
            0.017755769193172455,
            -0.9998247027397156,
            0.00594409741461277
        ],
        "right_vector": [
            0.9998423457145691,
            0.0177540872246027,
            -0.00033532732049934566
        ],
        "location": [
            218.222412109375,
            5593.591796875,
            365.3182678222656
        ],
        "rotation": [
            0.019213179126381874,
            0.3405736982822418,
            -88.98259735107422
        ],
        "velocity": [
            0.00642253365367651,
            -1.6803700923919678,
            0.013388375751674175
        ],
        "speed": 1.6803823661131185,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.7505484056650986,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.324838638305664,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -2.0583420337061398e-05,
                8.988528861664236e-06,
                0.0008238745504058897
            ],
            "speed_kmh": 0.0029670503439660195,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.27374267578125,
                        "y": 5520.173828125,
                        "z": 365.9097900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.790274620056152,
                "transform": {
                    "location": {
                        "x": 214.2353057861328,
                        "y": 5542.953125,
                        "z": 365.7174072265625
                    },
                    "rotation": {
                        "roll": 0.0015858857659623027,
                        "pitch": -0.24697962403297424,
                        "yaw": 88.31109619140625
                    }
                },
                "velocity": {
                    "x": 0.2880917191505432,
                    "y": 9.785696983337402,
                    "z": -0.08132098615169525
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.390474796295166,
                "transform": {
                    "location": {
                        "x": 181.44937133789062,
                        "y": 5583.58251953125,
                        "z": 365.5700378417969
                    },
                    "rotation": {
                        "roll": 1.0422287338718306e-10,
                        "pitch": -0.393097847700119,
                        "yaw": -0.422698974609375
                    }
                },
                "velocity": {
                    "x": 2.390279769897461,
                    "y": -0.005469548981636763,
                    "z": -0.030041169375181198
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1105217933654785,
                "transform": {
                    "location": {
                        "x": 182.95608520507812,
                        "y": 5586.8291015625,
                        "z": 365.55401611328125
                    },
                    "rotation": {
                        "roll": -0.00567626953125,
                        "pitch": -0.7646123170852661,
                        "yaw": 0.25982391834259033
                    }
                },
                "velocity": {
                    "x": 2.110370397567749,
                    "y": -0.003486166475340724,
                    "z": -0.025042805820703506
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001212680246680975,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6286926269531
                    },
                    "rotation": {
                        "roll": -0.0008544919546693563,
                        "pitch": -0.6652467250823975,
                        "yaw": -179.9442901611328
                    }
                },
                "velocity": {
                    "x": -2.763695920293685e-05,
                    "y": -0.00015609175898134708,
                    "z": 0.0012022749288007617
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002886638685595244,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -3.1304953154176474e-05,
                    "y": -5.040224664298876e-07,
                    "z": 0.00028696091612800956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.041274070739746,
                "transform": {
                    "location": {
                        "x": 214.91702270507812,
                        "y": 5565.67919921875,
                        "z": 365.52960205078125
                    },
                    "rotation": {
                        "roll": 0.0016279747942462564,
                        "pitch": -0.5264573097229004,
                        "yaw": 88.25984191894531
                    }
                },
                "velocity": {
                    "x": 0.15310390293598175,
                    "y": 5.038784503936768,
                    "z": -0.040672726929187775
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.47593871387653e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.5418163356080186e-06,
                    "y": 1.4592401385016274e-05,
                    "z": 9.346492151962593e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015249848365783691,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": -4.525892109086271e-06,
                    "y": 2.2790374714531936e-05,
                    "z": 0.0015248078852891922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008783394587226212,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -2.0122528439969756e-05,
                    "y": 8.127351520670345e-07,
                    "z": 0.0008781085489317775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.365790367126465,
                "transform": {
                    "location": {
                        "x": 215.43850708007812,
                        "y": 5591.220703125,
                        "z": 365.34197998046875
                    },
                    "rotation": {
                        "roll": -0.0708618015050888,
                        "pitch": -0.20389479398727417,
                        "yaw": 89.98912048339844
                    }
                },
                "velocity": {
                    "x": -0.01657096855342388,
                    "y": 13.365456581115723,
                    "z": -0.09291604161262512
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008241806644946337,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -2.0583420337061398e-05,
                    "y": 8.988528861664236e-06,
                    "z": 0.0008238745504058897
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016329319914802909,
                "transform": {
                    "location": {
                        "x": 216.10194396972656,
                        "y": 5624.623046875,
                        "z": 365.10101318359375
                    },
                    "rotation": {
                        "roll": -0.0022583059035241604,
                        "pitch": 0.15510675311088562,
                        "yaw": -81.46011352539062
                    }
                },
                "velocity": {
                    "x": -7.476698374375701e-05,
                    "y": -0.0011390011059120297,
                    "z": 0.0011677129659801722
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.2578030824661255,
                "transform": {
                    "location": {
                        "x": 217.42092895507812,
                        "y": 5612.2451171875,
                        "z": 365.18878173828125
                    },
                    "rotation": {
                        "roll": -0.009979247115552425,
                        "pitch": -0.06869804114103317,
                        "yaw": -85.18441772460938
                    }
                },
                "velocity": {
                    "x": 0.021417252719402313,
                    "y": -0.2568979263305664,
                    "z": 0.0026796625461429358
                },
                "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": -0.225942462682724,
        "expert_target_speed": 10.0,
        "target_point": [
            13.246507839662787,
            -9.77579720676205
        ],
        "target_point_next": [
            12.218574730032515,
            -60.76543154737551
        ]
    },
    "380": {
        "acceleration": [
            -0.03819853067398071,
            1.0540556907653809,
            -0.0023679621517658234
        ],
        "angular_velocity": [
            0.06285464018583298,
            0.025866718962788582,
            -0.8652035593986511
        ],
        "forward_vector": [
            0.01408173143863678,
            -0.9998872876167297,
            0.005205726716667414
        ],
        "right_vector": [
            0.9999008178710938,
            0.014080768451094627,
            -0.00022173719480633736
        ],
        "location": [
            218.22373962402344,
            5593.2109375,
            365.3211669921875
        ],
        "rotation": [
            0.012704777531325817,
            0.29826751351356506,
            -89.1931381225586
        ],
        "velocity": [
            -0.000730524945538491,
            -1.383973479270935,
            0.009670381434261799
        ],
        "speed": 1.383973672073278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.753389883815954,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.043699264526367,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.2966394024260808e-05,
                0.00010432640556246042,
                0.001440072082914412
            ],
            "speed_kmh": 0.005198055608031039,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.1481170654297,
                        "y": 5522.63232421875,
                        "z": 365.88787841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.598747253417969,
                "transform": {
                    "location": {
                        "x": 214.3082733154297,
                        "y": 5545.4150390625,
                        "z": 365.69915771484375
                    },
                    "rotation": {
                        "roll": 0.002086356747895479,
                        "pitch": -0.5046621561050415,
                        "yaw": 88.30155181884766
                    }
                },
                "velocity": {
                    "x": 0.2859862744808197,
                    "y": 9.594159126281738,
                    "z": -0.0791478157043457
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006458885967731476,
                "transform": {
                    "location": {
                        "x": 181.78179931640625,
                        "y": 5583.58251953125,
                        "z": 365.5712890625
                    },
                    "rotation": {
                        "roll": 0.011858792044222355,
                        "pitch": -1.0720186233520508,
                        "yaw": -0.4352111220359802
                    }
                },
                "velocity": {
                    "x": 0.006406675558537245,
                    "y": 0.0004235708329360932,
                    "z": 0.0007016449235379696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9014084339141846,
                "transform": {
                    "location": {
                        "x": 183.4950714111328,
                        "y": 5586.8291015625,
                        "z": 365.5469055175781
                    },
                    "rotation": {
                        "roll": -0.0032958979718387127,
                        "pitch": -0.6852045655250549,
                        "yaw": 0.17660678923130035
                    }
                },
                "velocity": {
                    "x": 1.901267409324646,
                    "y": -0.0036953394301235676,
                    "z": -0.022856583818793297
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017231701640412211,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6286926269531
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.6579862236976624,
                        "yaw": -179.9443359375
                    }
                },
                "velocity": {
                    "x": -3.454350007814355e-05,
                    "y": -1.1472212463559117e-05,
                    "z": 0.0017227857606485486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.692688864655793e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -1.690484532446135e-05,
                    "y": 2.894410897624766e-07,
                    "z": -5.4358191846404225e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.225759029388428,
                "transform": {
                    "location": {
                        "x": 214.95037841796875,
                        "y": 5566.796875,
                        "z": 365.5211486816406
                    },
                    "rotation": {
                        "roll": 0.0009248676360584795,
                        "pitch": -0.7088301777839661,
                        "yaw": 88.18936920166016
                    }
                },
                "velocity": {
                    "x": 0.12781915068626404,
                    "y": 4.22369384765625,
                    "z": -0.03335704654455185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006498070433735847,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 6.167255378386471e-06,
                    "y": -1.305813293583924e-05,
                    "z": 0.0006496465648524463
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009019982535392046,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 3.5248694985057227e-07,
                    "y": -1.6763093299232423e-05,
                    "z": 0.0009018423734232783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000883589731529355,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.53460693359375
                    },
                    "rotation": {
                        "roll": 0.0015695577021688223,
                        "pitch": -0.4547403156757355,
                        "yaw": 179.70413208007812
                    }
                },
                "velocity": {
                    "x": -3.04385266645113e-05,
                    "y": 1.4864521290292032e-05,
                    "z": 0.0008829401922412217
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.261574745178223,
                "transform": {
                    "location": {
                        "x": 215.4237518310547,
                        "y": 5594.6787109375,
                        "z": 365.31744384765625
                    },
                    "rotation": {
                        "roll": -0.0928955003619194,
                        "pitch": -0.2036762237548828,
                        "yaw": 90.57818603515625
                    }
                },
                "velocity": {
                    "x": -0.16639119386672974,
                    "y": 14.260241508483887,
                    "z": -0.10165201872587204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023350575065705925,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.2511908607848454e-05,
                    "y": -1.3815715647069737e-05,
                    "z": -0.00023276063438970596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014439043588936329,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.2966394024260808e-05,
                    "y": 0.00010432640556246042,
                    "z": 0.001440072082914412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2255816459655762,
                "transform": {
                    "location": {
                        "x": 216.12733459472656,
                        "y": 5624.44287109375,
                        "z": 365.1028137207031
                    },
                    "rotation": {
                        "roll": 0.0077291992492973804,
                        "pitch": 0.4640020430088043,
                        "yaw": -81.54057312011719
                    }
                },
                "velocity": {
                    "x": 0.17021827399730682,
                    "y": -1.2136775255203247,
                    "z": 0.007933358661830425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.164467692375183,
                "transform": {
                    "location": {
                        "x": 217.43609619140625,
                        "y": 5612.0517578125,
                        "z": 365.1883850097656
                    },
                    "rotation": {
                        "roll": 0.0012666323455050588,
                        "pitch": 0.4104670286178589,
                        "yaw": -85.2603759765625
                    }
                },
                "velocity": {
                    "x": 0.0885852724313736,
                    "y": -1.1610695123672485,
                    "z": 0.007434797007590532
                },
                "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": -0.2590586245059967,
        "expert_target_speed": 10.0,
        "target_point": [
            12.901491771484105,
            -9.723032184343065
        ],
        "target_point_next": [
            12.060887727743584,
            -60.71609878666646
        ]
    },
    "385": {
        "acceleration": [
            0.01323232427239418,
            0.7143759727478027,
            -0.0009849481284618378
        ],
        "angular_velocity": [
            -0.0837133452296257,
            -0.05159701779484749,
            -0.5446866750717163
        ],
        "forward_vector": [
            0.011040154844522476,
            -0.9999258518218994,
            0.005137658677995205
        ],
        "right_vector": [
            0.9999390244483948,
            0.011039558798074722,
            -0.00014422809181269258
        ],
        "location": [
            218.22421264648438,
            5592.9013671875,
            365.3232421875
        ],
        "rotation": [
            0.008263770490884781,
            0.2943674623966217,
            -89.36742401123047
        ],
        "velocity": [
            -0.0034690978936851025,
            -1.1355113983154297,
            0.00901048630475998
        ],
        "speed": 1.135516697519001,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.7593262692135196,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.818334579467773,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                5.602464170806343e-06,
                -8.188586798496544e-05,
                0.00037712472840212286
            ],
            "speed_kmh": 0.001389430919130719,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 168.49905395507812,
                        "y": 5586.7705078125,
                        "z": 365.9401550292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7924794554710388,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -1.789751813419116e-08,
                    "y": 4.300251474353978e-11,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.288506507873535,
                "transform": {
                    "location": {
                        "x": 214.0828857421875,
                        "y": 5524.982421875,
                        "z": 365.8674621582031
                    },
                    "rotation": {
                        "roll": 0.11731798946857452,
                        "pitch": -0.5343256592750549,
                        "yaw": 90.7802963256836
                    }
                },
                "velocity": {
                    "x": -0.16858212649822235,
                    "y": 9.286641120910645,
                    "z": -0.07895155996084213
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.697003364562988,
                "transform": {
                    "location": {
                        "x": 214.37655639648438,
                        "y": 5547.7021484375,
                        "z": 365.68206787109375
                    },
                    "rotation": {
                        "roll": 0.0005032823537476361,
                        "pitch": -0.6869189143180847,
                        "yaw": 88.28419494628906
                    }
                },
                "velocity": {
                    "x": 0.26033106446266174,
                    "y": 8.692818641662598,
                    "z": -0.07066813111305237
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4729955196380615,
                "transform": {
                    "location": {
                        "x": 182.00453186035156,
                        "y": 5583.5810546875,
                        "z": 365.56549072265625
                    },
                    "rotation": {
                        "roll": 0.0035237683914601803,
                        "pitch": -0.7055926322937012,
                        "yaw": -0.37921142578125
                    }
                },
                "velocity": {
                    "x": 1.4728785753250122,
                    "y": -0.0018627765821292996,
                    "z": -0.018455518409609795
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014065569266676903,
                "transform": {
                    "location": {
                        "x": 183.66468811035156,
                        "y": 5586.8291015625,
                        "z": 365.54351806640625
                    },
                    "rotation": {
                        "roll": 0.0008408091380260885,
                        "pitch": -0.5178239345550537,
                        "yaw": 0.02992706000804901
                    }
                },
                "velocity": {
                    "x": -0.0007281818543560803,
                    "y": -3.020341864612419e-05,
                    "z": -0.00120301335118711
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012004694435745478,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.5923549401341006e-05,
                    "y": -4.6571017264795955e-07,
                    "z": 0.001200189464725554
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.66012716293335,
                "transform": {
                    "location": {
                        "x": 214.9851531982422,
                        "y": 5567.9443359375,
                        "z": 365.51116943359375
                    },
                    "rotation": {
                        "roll": 0.00013072432193439454,
                        "pitch": -0.42371076345443726,
                        "yaw": 88.22996520996094
                    }
                },
                "velocity": {
                    "x": 0.141275092959404,
                    "y": 4.65784215927124,
                    "z": -0.03650378808379173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015275752230081707,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.774406534124864e-06,
                    "y": 5.464258379106468e-07,
                    "z": 0.00015268191054929048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011266306973993778,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 3.0624436476500705e-05,
                    "y": 0.00010198814561590552,
                    "z": 0.001121586887165904
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00023445917759090662,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": 2.6045738650282146e-06,
                    "y": 1.507897104602307e-05,
                    "z": -0.00023395927564706653
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.705397605895996,
                "transform": {
                    "location": {
                        "x": 215.36468505859375,
                        "y": 5598.3173828125,
                        "z": 365.29205322265625
                    },
                    "rotation": {
                        "roll": -0.1245422214269638,
                        "pitch": -0.28008556365966797,
                        "yaw": 91.44229125976562
                    }
                },
                "velocity": {
                    "x": -0.338716983795166,
                    "y": 14.701128959655762,
                    "z": -0.10385262966156006
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011209474178031087,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -3.085210892095347e-06,
                    "y": -6.540927643072791e-06,
                    "z": -0.00011186120536876842
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00038595302612520754,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 5.602464170806343e-06,
                    "y": -8.188586798496544e-05,
                    "z": 0.00037712472840212286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1861214637756348,
                "transform": {
                    "location": {
                        "x": 216.18679809570312,
                        "y": 5624.02294921875,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.009526338428258896,
                        "pitch": 0.55032879114151,
                        "yaw": -81.56443786621094
                    }
                },
                "velocity": {
                    "x": 0.3056739568710327,
                    "y": -2.164580821990967,
                    "z": 0.01674988679587841
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.076817035675049,
                "transform": {
                    "location": {
                        "x": 217.46632385253906,
                        "y": 5611.65625,
                        "z": 365.1901550292969
                    },
                    "rotation": {
                        "roll": 0.007269726134836674,
                        "pitch": 0.6794466972351074,
                        "yaw": -85.33238983154297
                    }
                },
                "velocity": {
                    "x": 0.1574591100215912,
                    "y": -2.0707907676696777,
                    "z": 0.01417057029902935
                },
                "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": -0.2974167764186859,
        "expert_target_speed": 10.0,
        "target_point": [
            12.621455376019005,
            -9.680793593528467
        ],
        "target_point_next": [
            11.935989349215241,
            -60.67618155159228
        ]
    },
    "390": {
        "acceleration": [
            -0.03243396058678627,
            0.19918441772460938,
            -0.008721919730305672
        ],
        "angular_velocity": [
            -0.1616588532924652,
            0.04386340454220772,
            -0.568444550037384
        ],
        "forward_vector": [
            0.008534611202776432,
            -0.9999459981918335,
            0.005929315462708473
        ],
        "right_vector": [
            0.9999635815620422,
            0.008533911779522896,
            -0.00014325720258057117
        ],
        "location": [
            218.22288513183594,
            5592.62841796875,
            365.3250732421875
        ],
        "rotation": [
            0.008208177052438259,
            0.3397267460823059,
            -89.510986328125
        ],
        "velocity": [
            -0.006936350371688604,
            -1.0564181804656982,
            0.0078080459497869015
        ],
        "speed": 1.056440951958478,
        "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": 17.622970581054688,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -8.223466466006357e-06,
                -8.022836482268758e-06,
                -0.00020789164409507066
            ],
            "speed_kmh": 0.0007495518753206839,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13314932584762573,
                "transform": {
                    "location": {
                        "x": 168.49710083007812,
                        "y": 5586.7705078125,
                        "z": 365.6861572265625
                    },
                    "rotation": {
                        "roll": 1.338422293883923e-06,
                        "pitch": -0.7926024198532104,
                        "yaw": -0.1376953125
                    }
                },
                "velocity": {
                    "x": 0.0018944009207189083,
                    "y": -6.915875474078348e-06,
                    "z": 0.1331358402967453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.451489448547363,
                "transform": {
                    "location": {
                        "x": 214.04991149902344,
                        "y": 5527.32568359375,
                        "z": 365.8472900390625
                    },
                    "rotation": {
                        "roll": 0.0621194988489151,
                        "pitch": -0.5029546022415161,
                        "yaw": 90.70530700683594
                    }
                },
                "velocity": {
                    "x": -0.11407222598791122,
                    "y": 9.45044994354248,
                    "z": -0.08143885433673859
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.116544723510742,
                "transform": {
                    "location": {
                        "x": 214.439208984375,
                        "y": 5549.79296875,
                        "z": 365.6648864746094
                    },
                    "rotation": {
                        "roll": -0.00021358994126785547,
                        "pitch": -0.6359520554542542,
                        "yaw": 88.2732162475586
                    }
                },
                "velocity": {
                    "x": 0.24461644887924194,
                    "y": 8.112603187561035,
                    "z": -0.06422935426235199
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.413377285003662,
                "transform": {
                    "location": {
                        "x": 182.52554321289062,
                        "y": 5583.5791015625,
                        "z": 365.55621337890625
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": -0.35748526453971863,
                        "yaw": -0.2959289252758026
                    }
                },
                "velocity": {
                    "x": 2.4131948947906494,
                    "y": -0.004798960871994495,
                    "z": -0.029272932559251785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013252751668915153,
                "transform": {
                    "location": {
                        "x": 183.6638946533203,
                        "y": 5586.8291015625,
                        "z": 365.544677734375
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": -0.6580818891525269,
                        "yaw": 0.029890093952417374
                    }
                },
                "velocity": {
                    "x": -0.0003203593078069389,
                    "y": -8.045139838941395e-05,
                    "z": -0.0012834530789405107
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001461635809391737,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.132790152449161e-05,
                    "y": 1.613397580513265e-05,
                    "z": 0.0014612110098823905
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002083787985611707,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -4.071175862918608e-05,
                    "y": 8.637844075565226e-06,
                    "z": 0.00020418046915438026
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.064613342285156,
                "transform": {
                    "location": {
                        "x": 215.017578125,
                        "y": 5569.0068359375,
                        "z": 365.503662109375
                    },
                    "rotation": {
                        "roll": 0.0009369630715809762,
                        "pitch": -0.6111789345741272,
                        "yaw": 88.25147247314453
                    }
                },
                "velocity": {
                    "x": 0.12236187607049942,
                    "y": 4.062641143798828,
                    "z": -0.03250254690647125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00048120206338353455,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.0580703171144705e-06,
                    "y": -6.384632342815166e-06,
                    "z": 0.00048114260425791144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0016140562947839499,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 4.704050661530346e-05,
                    "y": 6.177839532028884e-05,
                    "z": 0.001612187479622662
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002623450418468565,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.269690619665198e-05,
                    "y": -2.3152413632487878e-05,
                    "z": -0.00026101278490386903
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.619422912597656,
                "transform": {
                    "location": {
                        "x": 215.25640869140625,
                        "y": 5601.98291015625,
                        "z": 365.2672424316406
                    },
                    "rotation": {
                        "roll": -0.16076655685901642,
                        "pitch": -0.4267570376396179,
                        "yaw": 92.34717559814453
                    }
                },
                "velocity": {
                    "x": -0.5684609413146973,
                    "y": 14.607999801635742,
                    "z": -0.10355769097805023
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001962025125976652,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -9.787603630684316e-06,
                    "y": 8.766902283241507e-06,
                    "z": -0.00019576202612370253
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002082088467432186,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -8.223466466006357e-06,
                    "y": -8.022836482268758e-06,
                    "z": -0.00020789164409507066
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.266494631767273,
                "transform": {
                    "location": {
                        "x": 216.25711059570312,
                        "y": 5623.4853515625,
                        "z": 365.1097106933594
                    },
                    "rotation": {
                        "roll": 0.01130359061062336,
                        "pitch": 0.37469732761383057,
                        "yaw": -81.77268981933594
                    }
                },
                "velocity": {
                    "x": 0.1574103981256485,
                    "y": -1.2566345930099487,
                    "z": 0.010005788877606392
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8797286748886108,
                "transform": {
                    "location": {
                        "x": 217.5059356689453,
                        "y": 5611.13623046875,
                        "z": 365.1943359375
                    },
                    "rotation": {
                        "roll": 0.0057328189723193645,
                        "pitch": 0.5202623009681702,
                        "yaw": -85.41799926757812
                    }
                },
                "velocity": {
                    "x": 0.14182093739509583,
                    "y": -1.87432861328125,
                    "z": 0.012609023600816727
                },
                "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": -0.33694660663604736,
        "expert_target_speed": 10.0,
        "target_point": [
            12.372789429455807,
            -9.645424311177496
        ],
        "target_point_next": [
            11.815339810499525,
            -60.64237232367788
        ]
    },
    "395": {
        "acceleration": [
            0.015846043825149536,
            0.14188766479492188,
            -0.002895742654800415
        ],
        "angular_velocity": [
            -0.11580046266317368,
            -0.03618675097823143,
            -0.48929518461227417
        ],
        "forward_vector": [
            0.00613274984061718,
            -0.99996018409729,
            0.006481125019490719
        ],
        "right_vector": [
            0.999981164932251,
            0.006132103502750397,
            -0.0001195501463371329
        ],
        "location": [
            218.2214813232422,
            5592.37060546875,
            365.3268127441406
        ],
        "rotation": [
            0.006849862635135651,
            0.3713437020778656,
            -89.64861297607422
        ],
        "velocity": [
            -0.008035763166844845,
            -1.0108506679534912,
            0.00644246069714427
        ],
        "speed": 1.0108826076215245,
        "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": 17.440458297729492,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -4.6346522140083835e-05,
                7.209293107734993e-05,
                0.0011016344651579857
            ],
            "speed_kmh": 0.003977867865832204,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13144232332706451,
                "transform": {
                    "location": {
                        "x": 168.49710083007812,
                        "y": 5586.7705078125,
                        "z": 365.7373046875
                    },
                    "rotation": {
                        "roll": -0.0002136231050826609,
                        "pitch": -0.7926912307739258,
                        "yaw": -0.137725830078125
                    }
                },
                "velocity": {
                    "x": 0.0018676179461181164,
                    "y": 6.717727228533477e-05,
                    "z": 0.1314290463924408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.936781883239746,
                "transform": {
                    "location": {
                        "x": 214.03335571289062,
                        "y": 5529.57421875,
                        "z": 365.8279113769531
                    },
                    "rotation": {
                        "roll": 0.07252180576324463,
                        "pitch": -0.7430084347724915,
                        "yaw": 90.28871154785156
                    }
                },
                "velocity": {
                    "x": -0.0036499735433608294,
                    "y": 7.936488628387451,
                    "z": -0.06815805286169052
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.734227657318115,
                "transform": {
                    "location": {
                        "x": 214.49867248535156,
                        "y": 5551.76904296875,
                        "z": 365.6484680175781
                    },
                    "rotation": {
                        "roll": -0.0010985879926010966,
                        "pitch": -0.5367435812950134,
                        "yaw": 88.27242279052734
                    }
                },
                "velocity": {
                    "x": 0.23303577303886414,
                    "y": 7.7304558753967285,
                    "z": -0.06342484056949615
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.40989744663238525,
                "transform": {
                    "location": {
                        "x": 182.72499084472656,
                        "y": 5583.5791015625,
                        "z": 365.5599670410156
                    },
                    "rotation": {
                        "roll": 0.006482848431915045,
                        "pitch": -1.113914966583252,
                        "yaw": -0.3294677734375
                    }
                },
                "velocity": {
                    "x": 0.4098728597164154,
                    "y": -0.00014963961439207196,
                    "z": -0.004486942198127508
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014577963156625628,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.5448303222656
                    },
                    "rotation": {
                        "roll": -0.0022888178937137127,
                        "pitch": -0.6798974871635437,
                        "yaw": 0.029863527044653893
                    }
                },
                "velocity": {
                    "x": -5.7120916608255357e-05,
                    "y": -3.3679338230285794e-05,
                    "z": -0.00012982527550775558
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003324499411974102,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.093451232416555e-05,
                    "y": 9.594082257535774e-06,
                    "z": 0.00033086849725805223
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001171154945041053,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -1.930832877405919e-05,
                    "y": -4.1448834053881e-06,
                    "z": -0.00011543850268935785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.087930679321289,
                "transform": {
                    "location": {
                        "x": 215.04835510253906,
                        "y": 5570.044921875,
                        "z": 365.4952697753906
                    },
                    "rotation": {
                        "roll": 0.011378953233361244,
                        "pitch": -0.506868302822113,
                        "yaw": 88.28836822509766
                    }
                },
                "velocity": {
                    "x": 0.11467232555150986,
                    "y": 4.08620548248291,
                    "z": -0.03085469640791416
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030368618899956346,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.659947080654092e-06,
                    "y": 9.121917173615657e-06,
                    "z": 0.00030351339955814183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005797661724500358,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 1.3504177331924438e-07,
                    "y": -4.514586180448532e-07,
                    "z": 0.0005797659978270531
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005352102452889085,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.7025693523464724e-05,
                    "y": -8.572248589189257e-06,
                    "z": -0.0005348706617951393
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.541058540344238,
                "transform": {
                    "location": {
                        "x": 215.095458984375,
                        "y": 5605.62255859375,
                        "z": 365.2416076660156
                    },
                    "rotation": {
                        "roll": -0.1635131686925888,
                        "pitch": -0.44806039333343506,
                        "yaw": 93.21837615966797
                    }
                },
                "velocity": {
                    "x": -0.7976606488227844,
                    "y": 14.51879596710205,
                    "z": -0.10335367918014526
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011941360571654513,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": 1.0070222742797341e-05,
                    "y": 2.5840245143626817e-05,
                    "z": -0.00011614853428909555
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001104963244870305,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.6346522140083835e-05,
                    "y": 7.209293107734993e-05,
                    "z": 0.0011016344651579857
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7920175790786743,
                "transform": {
                    "location": {
                        "x": 216.26882934570312,
                        "y": 5623.392578125,
                        "z": 365.1103820800781
                    },
                    "rotation": {
                        "roll": 0.005760540254414082,
                        "pitch": 0.36426761746406555,
                        "yaw": -81.84269714355469
                    }
                },
                "velocity": {
                    "x": 0.10006123036146164,
                    "y": -0.7856473922729492,
                    "z": 0.00614695530384779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0555901527404785,
                "transform": {
                    "location": {
                        "x": 217.54139709472656,
                        "y": 5610.66845703125,
                        "z": 365.1979064941406
                    },
                    "rotation": {
                        "roll": 0.005447888281196356,
                        "pitch": 0.45523208379745483,
                        "yaw": -85.4968490600586
                    }
                },
                "velocity": {
                    "x": 0.15422426164150238,
                    "y": -2.0497472286224365,
                    "z": 0.014199189841747284
                },
                "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": -0.36989888548851013,
        "expert_target_speed": 0,
        "target_point": [
            12.138099894106755,
            -9.612723198296553
        ],
        "target_point_next": [
            11.703024068488102,
            -60.61086204368289
        ]
    },
    "400": {
        "acceleration": [
            -0.048007071018218994,
            0.17481565475463867,
            -0.0024309195578098297
        ],
        "angular_velocity": [
            -0.011747810989618301,
            0.06129692867398262,
            -0.5628946423530579
        ],
        "forward_vector": [
            0.0036749679129570723,
            -0.9999706149101257,
            0.0067343199625611305
        ],
        "right_vector": [
            0.9999932646751404,
            0.0036741436924785376,
            -0.0001347782090306282
        ],
        "location": [
            218.2196044921875,
            5592.12255859375,
            365.32843017578125
        ],
        "rotation": [
            0.007722397334873676,
            0.38585102558135986,
            -89.78943634033203
        ],
        "velocity": [
            -0.013188408687710762,
            -0.9724459648132324,
            0.005799140781164169
        ],
        "speed": 0.9725353919550962,
        "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": 17.26704978942871,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -4.6739205572521314e-05,
                6.953264528419822e-05,
                0.00032215818646363914
            ],
            "speed_kmh": 0.001198347153405427,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7742185592651367,
                "transform": {
                    "location": {
                        "x": 168.62234497070312,
                        "y": 5586.77197265625,
                        "z": 365.7494812011719
                    },
                    "rotation": {
                        "roll": 0.005258727818727493,
                        "pitch": -0.940517008304596,
                        "yaw": -0.127197265625
                    }
                },
                "velocity": {
                    "x": 1.7740334272384644,
                    "y": 0.019216526299715042,
                    "z": -0.01695471815764904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.426060199737549,
                "transform": {
                    "location": {
                        "x": 214.038818359375,
                        "y": 5531.45751953125,
                        "z": 365.8118591308594
                    },
                    "rotation": {
                        "roll": 0.041590508073568344,
                        "pitch": -0.6508486866950989,
                        "yaw": 89.84085083007812
                    }
                },
                "velocity": {
                    "x": 0.038754139095544815,
                    "y": 7.42568302154541,
                    "z": -0.06399726122617722
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.438898086547852,
                "transform": {
                    "location": {
                        "x": 214.55593872070312,
                        "y": 5553.6650390625,
                        "z": 365.6330261230469
                    },
                    "rotation": {
                        "roll": -0.000885026587639004,
                        "pitch": -0.5230968594551086,
                        "yaw": 88.27210235595703
                    }
                },
                "velocity": {
                    "x": 0.2242702841758728,
                    "y": 7.435275554656982,
                    "z": -0.0598972886800766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4341779947280884,
                "transform": {
                    "location": {
                        "x": 182.97280883789062,
                        "y": 5583.5791015625,
                        "z": 365.5529479980469
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.6114794611930847,
                        "yaw": -0.3309020698070526
                    }
                },
                "velocity": {
                    "x": 1.4340827465057373,
                    "y": -0.0006229564314708114,
                    "z": -0.016516828909516335
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000313565949909389,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.54486083984375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.683141827583313,
                        "yaw": 0.029850682243704796
                    }
                },
                "velocity": {
                    "x": 2.255938852613326e-05,
                    "y": -2.325072455278132e-05,
                    "z": -0.0003118879394605756
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011931098997592926,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.744250014075078e-05,
                    "y": -1.7800122805056162e-05,
                    "z": 0.0011926614679396152
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00038400411722250283,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -3.768093665712513e-05,
                    "y": 1.5825731679797173e-05,
                    "z": 0.0003818230761680752
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.885665416717529,
                "transform": {
                    "location": {
                        "x": 215.07945251464844,
                        "y": 5571.14599609375,
                        "z": 365.486328125
                    },
                    "rotation": {
                        "roll": 0.014037362299859524,
                        "pitch": -0.26535284519195557,
                        "yaw": 88.34693145751953
                    }
                },
                "velocity": {
                    "x": 0.13615019619464874,
                    "y": 4.88364315032959,
                    "z": -0.03488963469862938
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003249248838983476,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.876963885180885e-06,
                    "y": -2.1456051399582066e-05,
                    "z": 0.00032417901093140244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015134639106690884,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 5.82756292715203e-05,
                    "y": -9.797621714824345e-06,
                    "z": 0.001512309885583818
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6733798474888317e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.3967826816951856e-05,
                    "y": 9.454694804844621e-07,
                    "z": 9.166565178020392e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.51204776763916,
                "transform": {
                    "location": {
                        "x": 214.87725830078125,
                        "y": 5609.24609375,
                        "z": 365.2154541015625
                    },
                    "rotation": {
                        "roll": -0.1472167670726776,
                        "pitch": -0.41384798288345337,
                        "yaw": 94.11979675292969
                    }
                },
                "velocity": {
                    "x": -0.9881737232208252,
                    "y": 14.477996826171875,
                    "z": -0.10316349565982819
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000142966047860682,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -8.015948878892232e-06,
                    "y": -2.3361969851976028e-06,
                    "z": -0.00014272202679421753
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003328742168378085,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.6739205572521314e-05,
                    "y": 6.953264528419822e-05,
                    "z": 0.00032215818646363914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.707755208015442,
                "transform": {
                    "location": {
                        "x": 216.3085174560547,
                        "y": 5623.0732421875,
                        "z": 365.1129150390625
                    },
                    "rotation": {
                        "roll": 0.011348397471010685,
                        "pitch": 0.5187118649482727,
                        "yaw": -82.09904479980469
                    }
                },
                "velocity": {
                    "x": 0.21123866736888885,
                    "y": -1.6945961713790894,
                    "z": 0.012249546125531197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.015902768820524216,
                "transform": {
                    "location": {
                        "x": 217.56961059570312,
                        "y": 5610.28662109375,
                        "z": 365.20233154296875
                    },
                    "rotation": {
                        "roll": 0.00046709508751519024,
                        "pitch": -0.01779264211654663,
                        "yaw": -85.46342468261719
                    }
                },
                "velocity": {
                    "x": -0.00017065010615624487,
                    "y": -0.015895141288638115,
                    "z": -0.0004620056424755603
                },
                "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": -0.4064064621925354,
        "expert_target_speed": 0,
        "target_point": [
            11.913494369769367,
            -9.580268835163844
        ],
        "target_point_next": [
            11.60292892248402,
            -60.579317902477776
        ]
    },
    "405": {
        "acceleration": [
            0.020451340824365616,
            0.21257758140563965,
            0.004308512434363365
        ],
        "angular_velocity": [
            -0.015152493491768837,
            -0.06594211608171463,
            -0.6060858964920044
        ],
        "forward_vector": [
            0.001179147744551301,
            -0.9999767541885376,
            0.0067105982452631
        ],
        "right_vector": [
            0.9999992847442627,
            0.0011782558867707849,
            -0.0001368550438201055
        ],
        "location": [
            218.21632385253906,
            5591.88720703125,
            365.3301086425781
        ],
        "rotation": [
            0.00784139335155487,
            0.38449183106422424,
            -89.93244171142578
        ],
        "velocity": [
            -0.013443310745060444,
            -0.9125534892082214,
            0.006021060980856419
        ],
        "speed": 0.9126525041163738,
        "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": 17.105295181274414,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                4.340831219451502e-05,
                -7.685539458179846e-05,
                0.0008186174090951681
            ],
            "speed_kmh": 0.0029641043207856094,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.179933786392212,
                "transform": {
                    "location": {
                        "x": 169.27484130859375,
                        "y": 5586.77783203125,
                        "z": 365.74017333984375
                    },
                    "rotation": {
                        "roll": 0.0010612604673951864,
                        "pitch": -0.9530913829803467,
                        "yaw": 0.07419974356889725
                    }
                },
                "velocity": {
                    "x": 3.179381847381592,
                    "y": 0.035973742604255676,
                    "z": -0.04708137363195419
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.923465728759766,
                "transform": {
                    "location": {
                        "x": 214.05203247070312,
                        "y": 5533.4560546875,
                        "z": 365.794921875
                    },
                    "rotation": {
                        "roll": 0.020109981298446655,
                        "pitch": -0.2788082957267761,
                        "yaw": 89.60482025146484
                    }
                },
                "velocity": {
                    "x": 0.06750509887933731,
                    "y": 8.922895431518555,
                    "z": -0.07499287277460098
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.013538837432861,
                "transform": {
                    "location": {
                        "x": 214.6103057861328,
                        "y": 5555.46923828125,
                        "z": 365.6189880371094
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": -0.5444275140762329,
                        "yaw": 88.27177429199219
                    }
                },
                "velocity": {
                    "x": 0.21151401102542877,
                    "y": 7.010125637054443,
                    "z": -0.05589451640844345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4821460247039795,
                "transform": {
                    "location": {
                        "x": 183.49569702148438,
                        "y": 5583.578125,
                        "z": 365.5446472167969
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.3572939932346344,
                        "yaw": -0.3015137016773224
                    }
                },
                "velocity": {
                    "x": 2.4819676876068115,
                    "y": -0.004685189109295607,
                    "z": -0.029375437647104263
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006458901916630566,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.54486083984375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.683141827583313,
                        "yaw": 0.029850682243704796
                    }
                },
                "velocity": {
                    "x": 1.8870905478252098e-05,
                    "y": 1.5703739336458966e-05,
                    "z": -0.0006454234244301915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007962588570080698,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.302469849586487e-05,
                    "y": -4.1427640098845586e-05,
                    "z": 0.0007944943499751389
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.435000664670952e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -3.2390431442763656e-05,
                    "y": -4.666881977755111e-06,
                    "z": 2.9933311452623457e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.336535453796387,
                "transform": {
                    "location": {
                        "x": 215.11656188964844,
                        "y": 5572.462890625,
                        "z": 365.4765625
                    },
                    "rotation": {
                        "roll": 0.04232173040509224,
                        "pitch": -0.185057133436203,
                        "yaw": 88.388671875
                    }
                },
                "velocity": {
                    "x": 0.14587301015853882,
                    "y": 5.3343915939331055,
                    "z": -0.039959002286195755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00032843928784132004,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 3.035925374206272e-06,
                    "y": 1.8204218577011488e-06,
                    "z": 0.0003284201957285404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012400260893628001,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 6.41664473732817e-06,
                    "y": 6.664306511083851e-06,
                    "z": 0.0012399915140122175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021222152281552553,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.2205540770082735e-05,
                    "y": -1.314759060733195e-06,
                    "z": 0.0002118661650456488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.537249565124512,
                "transform": {
                    "location": {
                        "x": 214.60006713867188,
                        "y": 5612.86669921875,
                        "z": 365.1895751953125
                    },
                    "rotation": {
                        "roll": -0.1668701171875,
                        "pitch": -0.4017585217952728,
                        "yaw": 95.07687377929688
                    }
                },
                "velocity": {
                    "x": -1.243227481842041,
                    "y": 14.483623504638672,
                    "z": -0.10333219170570374
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004707994230557233,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -8.105021152005065e-06,
                    "y": 1.4614975043514278e-05,
                    "z": -0.0004705027095042169
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008233623229898512,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 4.340831219451502e-05,
                    "y": -7.685539458179846e-05,
                    "z": 0.0008186174090951681
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2321677207946777,
                "transform": {
                    "location": {
                        "x": 216.37452697753906,
                        "y": 5622.53369140625,
                        "z": 365.11676025390625
                    },
                    "rotation": {
                        "roll": 0.009293634444475174,
                        "pitch": 0.505433976650238,
                        "yaw": -82.50146484375
                    }
                },
                "velocity": {
                    "x": 0.2696465849876404,
                    "y": -2.2157559394836426,
                    "z": 0.017019586637616158
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0072903633117676,
                "transform": {
                    "location": {
                        "x": 217.58053588867188,
                        "y": 5610.14111328125,
                        "z": 365.2021789550781
                    },
                    "rotation": {
                        "roll": 0.0025498715694993734,
                        "pitch": 0.30744045972824097,
                        "yaw": -85.47936248779297
                    }
                },
                "velocity": {
                    "x": 0.07602894306182861,
                    "y": -1.0043970346450806,
                    "z": 0.006329507566988468
                },
                "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": -0.43732786178588867,
        "expert_target_speed": 0,
        "target_point": [
            11.702454784235927,
            -9.546411744348202
        ],
        "target_point_next": [
            11.521495284308356,
            -60.54608537395809
        ]
    },
    "410": {
        "acceleration": [
            -0.02433154731988907,
            0.39153337478637695,
            -0.0021717045456171036
        ],
        "angular_velocity": [
            0.057479094713926315,
            -0.012312388978898525,
            -0.5570844411849976
        ],
        "forward_vector": [
            -0.001130361924879253,
            -0.9999781250953674,
            0.006515098735690117
        ],
        "right_vector": [
            0.9999993443489075,
            -0.0011309415567666292,
            -8.527911268174648e-05
        ],
        "location": [
            218.2129669189453,
            5591.6708984375,
            365.3316650390625
        ],
        "rotation": [
            0.004886236973106861,
            0.3732903003692627,
            -90.06476593017578
        ],
        "velocity": [
            -0.015292253345251083,
            -0.8150330185890198,
            0.006054029334336519
        ],
        "speed": 0.8151764682586862,
        "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": 16.958396911621094,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -3.352388603161671e-06,
                -1.4130670933809597e-05,
                0.0012757874792441726
            ],
            "speed_kmh": 0.004593132493310307,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3600175380706787,
                "transform": {
                    "location": {
                        "x": 168.49124145507812,
                        "y": 5583.5205078125,
                        "z": 365.8283386230469
                    },
                    "rotation": {
                        "roll": 0.0003126416995655745,
                        "pitch": -0.7933332324028015,
                        "yaw": -0.137542724609375
                    }
                },
                "velocity": {
                    "x": 0.0012480735313147306,
                    "y": 0.0002533904043957591,
                    "z": -2.3600172996520996
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.324912071228027,
                "transform": {
                    "location": {
                        "x": 170.21725463867188,
                        "y": 5586.78662109375,
                        "z": 365.7264099121094
                    },
                    "rotation": {
                        "roll": -0.0033264162484556437,
                        "pitch": -0.909268856048584,
                        "yaw": 0.2914927899837494
                    }
                },
                "velocity": {
                    "x": 4.3242034912109375,
                    "y": 0.04966675490140915,
                    "z": -0.06049637123942375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.697181701660156,
                "transform": {
                    "location": {
                        "x": 214.0879669189453,
                        "y": 5535.84912109375,
                        "z": 365.77471923828125
                    },
                    "rotation": {
                        "roll": 0.0455796904861927,
                        "pitch": -0.29977014660835266,
                        "yaw": 89.06868743896484
                    }
                },
                "velocity": {
                    "x": 0.17229017615318298,
                    "y": 9.695302963256836,
                    "z": -0.08207056671380997
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.670445919036865,
                "transform": {
                    "location": {
                        "x": 214.661865234375,
                        "y": 5557.17626953125,
                        "z": 365.6053771972656
                    },
                    "rotation": {
                        "roll": -0.0006408658809959888,
                        "pitch": -0.5427882671356201,
                        "yaw": 88.27520751953125
                    }
                },
                "velocity": {
                    "x": 0.20075242221355438,
                    "y": 6.667217254638672,
                    "z": -0.05252327769994736
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4339353144168854,
                "transform": {
                    "location": {
                        "x": 183.75045776367188,
                        "y": 5583.5771484375,
                        "z": 365.54791259765625
                    },
                    "rotation": {
                        "roll": 0.005884512793272734,
                        "pitch": -1.1271655559539795,
                        "yaw": -0.2593688666820526
                    }
                },
                "velocity": {
                    "x": 0.4339141249656677,
                    "y": -0.0019816996064037085,
                    "z": -0.003802328137680888
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.011226287228055e-05,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.54486083984375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.683141827583313,
                        "yaw": 0.029850682243704796
                    }
                },
                "velocity": {
                    "x": 2.3980512196430936e-05,
                    "y": 8.920360414776951e-06,
                    "z": -5.439527740236372e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012321228859946132,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.402136280783452e-05,
                    "y": 7.429516244883416e-06,
                    "z": 0.0012316306820139289
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002573399688117206,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -3.223761814297177e-05,
                    "y": 2.7600638077274198e-06,
                    "z": 0.0002552978112362325
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.82820463180542,
                "transform": {
                    "location": {
                        "x": 215.1578826904297,
                        "y": 5573.96044921875,
                        "z": 365.4664001464844
                    },
                    "rotation": {
                        "roll": 0.02014174312353134,
                        "pitch": 0.13555192947387695,
                        "yaw": 88.4126968383789
                    }
                },
                "velocity": {
                    "x": 0.18726657330989838,
                    "y": 6.82558012008667,
                    "z": -0.027678783982992172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00022379113943316042,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.630683062918251e-06,
                    "y": -2.425350658086245e-06,
                    "z": 0.0002237071457784623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012516529532149434,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 2.578962448751554e-05,
                    "y": -9.101380419451743e-05,
                    "z": 0.0012480730656534433
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004350328235886991,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.7917527657118626e-05,
                    "y": 3.710685996338725e-05,
                    "z": 0.0004330769006628543
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.5293607711792,
                "transform": {
                    "location": {
                        "x": 214.2675018310547,
                        "y": 5616.48486328125,
                        "z": 365.1636657714844
                    },
                    "rotation": {
                        "roll": -0.170166015625,
                        "pitch": -0.40914881229400635,
                        "yaw": 95.94742584228516
                    }
                },
                "velocity": {
                    "x": -1.479156255722046,
                    "y": 14.453499794006348,
                    "z": -0.10381021350622177
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.105334614403546e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -6.846375526947668e-06,
                    "y": 3.1865072287473595e-06,
                    "z": -6.0584523453144357e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012758701341226697,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -3.352388603161671e-06,
                    "y": -1.4130670933809597e-05,
                    "z": 0.0012757874792441726
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3180731534957886,
                "transform": {
                    "location": {
                        "x": 216.400390625,
                        "y": 5622.31689453125,
                        "z": 365.1180419921875
                    },
                    "rotation": {
                        "roll": -0.0016479662153869867,
                        "pitch": 0.19780226051807404,
                        "yaw": -82.70922088623047
                    }
                },
                "velocity": {
                    "x": 0.039003122597932816,
                    "y": -0.3156577944755554,
                    "z": 0.003073635045439005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.623879075050354,
                "transform": {
                    "location": {
                        "x": 217.60765075683594,
                        "y": 5609.78369140625,
                        "z": 365.2035827636719
                    },
                    "rotation": {
                        "roll": 0.005245918873697519,
                        "pitch": 0.5925188660621643,
                        "yaw": -85.4966049194336
                    }
                },
                "velocity": {
                    "x": 0.12200555205345154,
                    "y": -1.6192469596862793,
                    "z": 0.011706017889082432
                },
                "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": -0.474956750869751,
        "expert_target_speed": 0,
        "target_point": [
            11.507467758561283,
            -9.517089852770978
        ],
        "target_point_next": [
            11.440589954783912,
            -60.51704067653847
        ]
    },
    "415": {
        "acceleration": [
            0.032569970935583115,
            0.5877184867858887,
            -0.014944076538085938
        ],
        "angular_velocity": [
            0.021033963188529015,
            -0.0037623317912220955,
            -0.21206879615783691
        ],
        "forward_vector": [
            -0.0031016836874186993,
            -0.9999753832817078,
            0.006289440672844648
        ],
        "right_vector": [
            0.9999951720237732,
            -0.003102063201367855,
            -5.057407179265283e-05
        ],
        "location": [
            218.20944213867188,
            5591.48486328125,
            365.3330078125
        ],
        "rotation": [
            0.0028977382462471724,
            0.3603607714176178,
            -90.17771911621094
        ],
        "velocity": [
            -0.01306238304823637,
            -0.6898284554481506,
            0.005246458109468222
        ],
        "speed": 0.6899521170319575,
        "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": 16.833724975585938,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.1956859452766366e-05,
                -1.91108319995692e-05,
                0.0009176624589599669
            ],
            "speed_kmh": 0.003304581520174523,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09486407041549683,
                "transform": {
                    "location": {
                        "x": 168.4892120361328,
                        "y": 5583.5205078125,
                        "z": 365.68499755859375
                    },
                    "rotation": {
                        "roll": 0.00048362064990215003,
                        "pitch": -0.8121914267539978,
                        "yaw": -0.1376648098230362
                    }
                },
                "velocity": {
                    "x": 0.001382007380016148,
                    "y": -0.00011590633948799223,
                    "z": 0.09485393017530441
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.198545932769775,
                "transform": {
                    "location": {
                        "x": 171.43780517578125,
                        "y": 5586.798828125,
                        "z": 365.7095947265625
                    },
                    "rotation": {
                        "roll": -0.01327514834702015,
                        "pitch": -0.8909298181533813,
                        "yaw": 0.4227198362350464
                    }
                },
                "velocity": {
                    "x": 5.198004722595215,
                    "y": 0.025459077209234238,
                    "z": -0.07057273387908936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.402557373046875,
                "transform": {
                    "location": {
                        "x": 214.13905334472656,
                        "y": 5538.4580078125,
                        "z": 365.7529602050781
                    },
                    "rotation": {
                        "roll": 0.026922591030597687,
                        "pitch": -0.3610779345035553,
                        "yaw": 88.82371520996094
                    }
                },
                "velocity": {
                    "x": 0.21554267406463623,
                    "y": 10.399964332580566,
                    "z": -0.08652501553297043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.297220230102539,
                "transform": {
                    "location": {
                        "x": 214.71046447753906,
                        "y": 5558.79345703125,
                        "z": 365.5925598144531
                    },
                    "rotation": {
                        "roll": -0.0012206818209961057,
                        "pitch": -0.5308218002319336,
                        "yaw": 88.27552795410156
                    }
                },
                "velocity": {
                    "x": 0.18954652547836304,
                    "y": 6.294168472290039,
                    "z": -0.04993484541773796
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.673092007637024,
                "transform": {
                    "location": {
                        "x": 184.0485076904297,
                        "y": 5583.57666015625,
                        "z": 365.5406799316406
                    },
                    "rotation": {
                        "roll": 0.0020132416393607855,
                        "pitch": -0.561974287033081,
                        "yaw": -0.2607421278953552
                    }
                },
                "velocity": {
                    "x": 1.6730191707611084,
                    "y": -0.004409438464790583,
                    "z": -0.014979362487792969
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001022165990434587,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.54486083984375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.683141827583313,
                        "yaw": 0.029850682243704796
                    }
                },
                "velocity": {
                    "x": 1.4031380487722345e-05,
                    "y": -1.514676205260912e-05,
                    "z": -0.001021957490593195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.442278678761795e-05,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.145135997328907e-05,
                    "y": 1.4758808219994535e-06,
                    "z": 8.901851833797991e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.375822264701128e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -2.1936521079624072e-05,
                    "y": 4.014421210740693e-05,
                    "z": -8.184030593838543e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.788707256317139,
                "transform": {
                    "location": {
                        "x": 215.20562744140625,
                        "y": 5575.78857421875,
                        "z": 365.4543151855469
                    },
                    "rotation": {
                        "roll": -0.0852050632238388,
                        "pitch": 0.1612471044063568,
                        "yaw": 88.50578308105469
                    }
                },
                "velocity": {
                    "x": 0.19125239551067352,
                    "y": 7.786100387573242,
                    "z": -0.06341147422790527
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009774909121915698,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 2.187261270591989e-05,
                    "y": 4.967575478076469e-06,
                    "z": 0.0009772335179150105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015471988590434194,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 3.4306012821616605e-05,
                    "y": 2.1476333131431602e-05,
                    "z": 0.0015466694021597505
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3429614884662442e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -2.228669836767949e-05,
                    "y": 1.7517787682663766e-06,
                    "z": -7.012930836935993e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.542607307434082,
                "transform": {
                    "location": {
                        "x": 213.8767852783203,
                        "y": 5620.09716796875,
                        "z": 365.137451171875
                    },
                    "rotation": {
                        "roll": -0.1722106784582138,
                        "pitch": -0.41903892159461975,
                        "yaw": 96.87689971923828
                    }
                },
                "velocity": {
                    "x": -1.7210122346878052,
                    "y": 14.44003963470459,
                    "z": -0.1039387509226799
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001870893029263243,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -5.240794052951969e-06,
                    "y": 8.732844435144216e-06,
                    "z": -0.00018681188521441072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009179392945952713,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.1956859452766366e-05,
                    "y": -1.91108319995692e-05,
                    "z": 0.0009176624589599669
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.328338861465454,
                "transform": {
                    "location": {
                        "x": 216.4256134033203,
                        "y": 5622.10546875,
                        "z": 365.1199035644531
                    },
                    "rotation": {
                        "roll": 0.0024217369500547647,
                        "pitch": 0.4888092875480652,
                        "yaw": -82.79448699951172
                    }
                },
                "velocity": {
                    "x": 0.15690426528453827,
                    "y": -1.319004774093628,
                    "z": 0.009561252780258656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6229740381240845,
                "transform": {
                    "location": {
                        "x": 217.61631774902344,
                        "y": 5609.669921875,
                        "z": 365.2057189941406
                    },
                    "rotation": {
                        "roll": 0.0010264723096042871,
                        "pitch": 0.24908332526683807,
                        "yaw": -85.5030517578125
                    }
                },
                "velocity": {
                    "x": 0.046905625611543655,
                    "y": -0.6211934089660645,
                    "z": 0.003909978549927473
                },
                "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": -0.5087288022041321,
        "expert_target_speed": 0,
        "target_point": [
            11.34058171703569,
            -9.490929508186346
        ],
        "target_point_next": [
            11.376499004439552,
            -60.49091153382834
        ]
    },
    "420": {
        "acceleration": [
            -0.025966297835111618,
            0.16000628471374512,
            -0.016086576506495476
        ],
        "angular_velocity": [
            -0.06345418095588684,
            0.032960373908281326,
            -0.43815794587135315
        ],
        "forward_vector": [
            -0.0048817857168614864,
            -0.9999681711196899,
            0.006311851087957621
        ],
        "right_vector": [
            0.9999880790710449,
            -0.00488194590434432,
            -9.976559340429958e-06
        ],
        "location": [
            218.2059326171875,
            5591.32421875,
            365.3341369628906
        ],
        "rotation": [
            0.000571626122109592,
            0.36164483428001404,
            -90.27971649169922
        ],
        "velocity": [
            -0.013879703357815742,
            -0.6017378568649292,
            0.00505550391972065
        ],
        "speed": 0.6018979104048285,
        "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": 16.72732925415039,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                6.456598384829704e-06,
                4.290099968784489e-05,
                0.000924243766348809
            ],
            "speed_kmh": 0.0033309411659480427,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9883177280426025,
                "transform": {
                    "location": {
                        "x": 168.56179809570312,
                        "y": 5583.52099609375,
                        "z": 365.71673583984375
                    },
                    "rotation": {
                        "roll": -0.008087157271802425,
                        "pitch": -0.5821574926376343,
                        "yaw": -0.1246032640337944
                    }
                },
                "velocity": {
                    "x": 0.983738124370575,
                    "y": 0.008157379925251007,
                    "z": 0.0946817547082901
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2546329498291016,
                "transform": {
                    "location": {
                        "x": 172.62530517578125,
                        "y": 5586.80419921875,
                        "z": 365.6910095214844
                    },
                    "rotation": {
                        "roll": -0.008819580078125,
                        "pitch": -0.6558552384376526,
                        "yaw": 0.34576818346977234
                    }
                },
                "velocity": {
                    "x": 3.254258871078491,
                    "y": 0.015093803405761719,
                    "z": -0.04697815701365471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.971136093139648,
                "transform": {
                    "location": {
                        "x": 214.19671630859375,
                        "y": 5540.90380859375,
                        "z": 365.73260498046875
                    },
                    "rotation": {
                        "roll": 0.02810521237552166,
                        "pitch": -0.6695565581321716,
                        "yaw": 88.59345245361328
                    }
                },
                "velocity": {
                    "x": 0.2257446050643921,
                    "y": 8.967988967895508,
                    "z": -0.07411113381385803
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.02686071395874,
                "transform": {
                    "location": {
                        "x": 214.7566375732422,
                        "y": 5560.33154296875,
                        "z": 365.58056640625
                    },
                    "rotation": {
                        "roll": -0.0005798431229777634,
                        "pitch": -0.5225777626037598,
                        "yaw": 88.27803802490234
                    }
                },
                "velocity": {
                    "x": 0.1810242384672165,
                    "y": 6.0239458084106445,
                    "z": -0.04854836314916611
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3081841468811035,
                "transform": {
                    "location": {
                        "x": 184.60304260253906,
                        "y": 5583.57568359375,
                        "z": 365.5335388183594
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.344664990901947,
                        "yaw": -0.2171630561351776
                    }
                },
                "velocity": {
                    "x": 2.308072805404663,
                    "y": -0.0039884899742901325,
                    "z": -0.022319301962852478
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005587318446487188,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.54486083984375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.683141827583313,
                        "yaw": 0.029850682243704796
                    }
                },
                "velocity": {
                    "x": 7.76693195803091e-06,
                    "y": -5.384840733313467e-06,
                    "z": -0.0005586519255302846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00010514913446968421,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.3866667106631212e-05,
                    "y": 3.779152564220567e-07,
                    "z": 0.00010240400297334418
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.968181408708915e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -3.434091559029184e-05,
                    "y": -1.9209850506740622e-05,
                    "z": -5.131233592692297e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.765741348266602,
                "transform": {
                    "location": {
                        "x": 215.25491333007812,
                        "y": 5577.84228515625,
                        "z": 365.4405517578125
                    },
                    "rotation": {
                        "roll": -0.1378479152917862,
                        "pitch": -0.12866710126399994,
                        "yaw": 88.6170425415039
                    }
                },
                "velocity": {
                    "x": 0.2105514407157898,
                    "y": 8.762916564941406,
                    "z": -0.0719778835773468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005048396997153759,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 1.4533791727444623e-05,
                    "y": 1.5070950212248135e-05,
                    "z": 0.0005044053541496396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010880478657782078,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": -1.608576530998107e-05,
                    "y": 9.482767200097442e-05,
                    "z": 0.001083788345567882
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00027599508757703006,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -2.2450834876508452e-05,
                    "y": -5.500975476024905e-06,
                    "z": -0.00027502543525770307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.529071807861328,
                "transform": {
                    "location": {
                        "x": 213.42819213867188,
                        "y": 5623.70361328125,
                        "z": 365.1111145019531
                    },
                    "rotation": {
                        "roll": -0.14578242599964142,
                        "pitch": -0.4237995445728302,
                        "yaw": 97.76907348632812
                    }
                },
                "velocity": {
                    "x": -1.9064834117889404,
                    "y": 14.403045654296875,
                    "z": -0.10734231024980545
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001131858371081762,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -8.586011972511187e-06,
                    "y": -3.7757272366434336e-05,
                    "z": -0.00010635648504830897
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009252614108845592,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 6.456598384829704e-06,
                    "y": 4.290099968784489e-05,
                    "z": 0.000924243766348809
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2853188514709473,
                "transform": {
                    "location": {
                        "x": 216.47952270507812,
                        "y": 5621.654296875,
                        "z": 365.1232604980469
                    },
                    "rotation": {
                        "roll": 0.004019647371023893,
                        "pitch": 0.5538463592529297,
                        "yaw": -82.88349914550781
                    }
                },
                "velocity": {
                    "x": 0.2711866497993469,
                    "y": -2.2691144943237305,
                    "z": 0.01610819809138775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4757071733474731,
                "transform": {
                    "location": {
                        "x": 217.63694763183594,
                        "y": 5609.39794921875,
                        "z": 365.2063903808594
                    },
                    "rotation": {
                        "roll": 0.0067376685328781605,
                        "pitch": 0.5873552560806274,
                        "yaw": -85.547607421875
                    }
                },
                "velocity": {
                    "x": 0.11049704998731613,
                    "y": -1.4715272188186646,
                    "z": 0.010460586287081242
                },
                "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": -0.5334769487380981,
        "expert_target_speed": 0,
        "target_point": [
            11.19687038028841,
            -9.46791809908918
        ],
        "target_point_next": [
            11.32395831742075,
            -60.46775442552828
        ]
    },
    "425": {
        "acceleration": [
            0.025339052081108093,
            0.1047968864440918,
            -0.0013538356870412827
        ],
        "angular_velocity": [
            -0.09487225860357285,
            0.02184278331696987,
            -0.7518710494041443
        ],
        "forward_vector": [
            -0.006386982277035713,
            -0.999958872795105,
            0.006436899304389954
        ],
        "right_vector": [
            0.9999796152114868,
            -0.006387005094438791,
            1.7044134438037872e-05
        ],
        "location": [
            218.20272827148438,
            5591.185546875,
            365.3351135253906
        ],
        "rotation": [
            -0.0009765771683305502,
            0.36880970001220703,
            -90.36595916748047
        ],
        "velocity": [
            -0.011914615519344807,
            -0.5294416546821594,
            0.004278040025383234
        ],
        "speed": 0.5295757016476084,
        "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": 16.636316299438477,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                2.672806294867769e-05,
                -0.00011420850205468014,
                0.0005208160728216171
            ],
            "speed_kmh": 0.0019218988773810734,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8993639945983887,
                "transform": {
                    "location": {
                        "x": 168.943359375,
                        "y": 5583.5244140625,
                        "z": 365.7272644042969
                    },
                    "rotation": {
                        "roll": -0.014373782090842724,
                        "pitch": -0.413629412651062,
                        "yaw": -0.02105712704360485
                    }
                },
                "velocity": {
                    "x": 1.8992648124694824,
                    "y": 0.01739961840212345,
                    "z": 0.00861323345452547
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4522629380226135,
                "transform": {
                    "location": {
                        "x": 172.9128875732422,
                        "y": 5586.8056640625,
                        "z": 365.685546875
                    },
                    "rotation": {
                        "roll": -0.008270262740552425,
                        "pitch": -0.4751898944377899,
                        "yaw": 0.3596158027648926
                    }
                },
                "velocity": {
                    "x": 0.45222553610801697,
                    "y": 0.0019034255528822541,
                    "z": -0.005495223682373762
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.328254699707031,
                "transform": {
                    "location": {
                        "x": 214.24867248535156,
                        "y": 5542.90380859375,
                        "z": 365.71600341796875
                    },
                    "rotation": {
                        "roll": 0.013333911076188087,
                        "pitch": -0.7923907041549683,
                        "yaw": 88.47774505615234
                    }
                },
                "velocity": {
                    "x": 0.19516447186470032,
                    "y": 7.325405120849609,
                    "z": -0.06055797263979912
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.684812068939209,
                "transform": {
                    "location": {
                        "x": 214.8004608154297,
                        "y": 5561.79296875,
                        "z": 365.56884765625
                    },
                    "rotation": {
                        "roll": -0.0005493193748407066,
                        "pitch": -0.5217034816741943,
                        "yaw": 88.28043365478516
                    }
                },
                "velocity": {
                    "x": 0.17060725390911102,
                    "y": 5.682076930999756,
                    "z": -0.04452512040734291
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0008555734530091286,
                "transform": {
                    "location": {
                        "x": 184.6931915283203,
                        "y": 5583.57421875,
                        "z": 365.5386962890625
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -1.0878578424453735,
                        "yaw": -0.1258849948644638
                    }
                },
                "velocity": {
                    "x": -0.0007179928943514824,
                    "y": -0.0001318684226134792,
                    "z": 0.00044620936387218535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9090507925720885e-05,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.54486083984375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.683141827583313,
                        "yaw": 0.029850682243704796
                    }
                },
                "velocity": {
                    "x": 2.9577835448435508e-05,
                    "y": -4.7820640247664414e-06,
                    "z": -2.5106797693297267e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008594318642280996,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.6672556487028487e-05,
                    "y": -5.281893209030386e-06,
                    "z": 0.0008590016514062881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014370722055900842,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -2.5713741706567816e-05,
                    "y": 7.019852091616485e-06,
                    "z": 0.00014121363346930593
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.213001251220703,
                "transform": {
                    "location": {
                        "x": 215.31069946289062,
                        "y": 5580.25,
                        "z": 365.4177551269531
                    },
                    "rotation": {
                        "roll": -0.083251953125,
                        "pitch": 0.04101528227329254,
                        "yaw": 88.71206665039062
                    }
                },
                "velocity": {
                    "x": 0.1977367401123047,
                    "y": 10.210640907287598,
                    "z": -0.09541542083024979
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.878309068270028e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 7.357373760896735e-06,
                    "y": -6.697393018839648e-06,
                    "z": 6.8059736804571e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001031806692481041,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 2.1087396817165427e-05,
                    "y": -0.00010719973943196237,
                    "z": 0.0010260060662403703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.372640508634504e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.3686716556549072e-05,
                    "y": -9.203315016748093e-07,
                    "z": 4.908876007903018e-07
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4448,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.542488098144531,
                "transform": {
                    "location": {
                        "x": 212.92250061035156,
                        "y": 5627.3017578125,
                        "z": 365.08392333984375
                    },
                    "rotation": {
                        "roll": -0.15948486328125,
                        "pitch": -0.4301447868347168,
                        "yaw": 98.67257690429688
                    }
                },
                "velocity": {
                    "x": -2.149583578109741,
                    "y": 14.382335662841797,
                    "z": -0.10798081755638123
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018709481810219586,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.5515795894316398e-05,
                    "y": -1.1612120033532847e-05,
                    "z": -0.00018608839309308678
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005338608170859516,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 2.672806294867769e-05,
                    "y": -0.00011420850205468014,
                    "z": 0.0005208160728216171
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7019530534744263,
                "transform": {
                    "location": {
                        "x": 216.5399932861328,
                        "y": 5621.1513671875,
                        "z": 365.1266784667969
                    },
                    "rotation": {
                        "roll": 0.0019271173514425755,
                        "pitch": 0.38548901677131653,
                        "yaw": -82.85267639160156
                    }
                },
                "velocity": {
                    "x": 0.20214033126831055,
                    "y": -1.6898548603057861,
                    "z": 0.013200778514146805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43134355545043945,
                "transform": {
                    "location": {
                        "x": 217.66531372070312,
                        "y": 5609.013671875,
                        "z": 365.2098083496094
                    },
                    "rotation": {
                        "roll": 0.008301262743771076,
                        "pitch": 0.3930705487728119,
                        "yaw": -85.5090560913086
                    }
                },
                "velocity": {
                    "x": 0.026455845683813095,
                    "y": -0.4305221140384674,
                    "z": 0.0028416442219167948
                },
                "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": -0.5594043731689453,
        "expert_target_speed": 0,
        "target_point": [
            11.072362338885245,
            -9.448803797087534
        ],
        "target_point_next": [
            11.275907836480007,
            -60.44839228462094
        ]
    },
    "430": {
        "acceleration": [
            -0.0397421233355999,
            -0.02248704433441162,
            -0.016617964953184128
        ],
        "angular_velocity": [
            -0.05255281180143356,
            0.06535889208316803,
            -0.22304335236549377
        ],
        "forward_vector": [
            -0.007704776246100664,
            -0.9999489784240723,
            0.006531787570565939
        ],
        "right_vector": [
            0.9999703168869019,
            -0.007704864256083965,
            1.171790063381195e-05
        ],
        "location": [
            218.2000732421875,
            5591.064453125,
            365.3360900878906
        ],
        "rotation": [
            -0.0006714005721732974,
            0.3742465376853943,
            -90.44146728515625
        ],
        "velocity": [
            -0.012281660921871662,
            -0.45860251784324646,
            0.002415294526144862
        ],
        "speed": 0.4587669436295133,
        "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": 16.557273864746094,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.581467586220242e-05,
                -3.461911910562776e-05,
                0.0010761999292299151
            ],
            "speed_kmh": 0.003876741825387598,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.048003673553467,
                "transform": {
                    "location": {
                        "x": 169.55569458007812,
                        "y": 5583.529296875,
                        "z": 365.7233581542969
                    },
                    "rotation": {
                        "roll": -0.01950073055922985,
                        "pitch": -0.3518981635570526,
                        "yaw": 0.1702282875776291
                    }
                },
                "velocity": {
                    "x": 3.0476818084716797,
                    "y": 0.030018698424100876,
                    "z": -0.032581791281700134
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5989071130752563,
                "transform": {
                    "location": {
                        "x": 173.18467712402344,
                        "y": 5586.806640625,
                        "z": 365.6847229003906
                    },
                    "rotation": {
                        "roll": -0.007049560081213713,
                        "pitch": -0.8348402976989746,
                        "yaw": 0.3439940810203552
                    }
                },
                "velocity": {
                    "x": 1.5987380743026733,
                    "y": 0.006993564311414957,
                    "z": -0.022169819101691246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.3624114990234375,
                "transform": {
                    "location": {
                        "x": 214.29820251464844,
                        "y": 5544.7080078125,
                        "z": 365.7012023925781
                    },
                    "rotation": {
                        "roll": 0.008458408527076244,
                        "pitch": -0.5527330040931702,
                        "yaw": 88.43684387207031
                    }
                },
                "velocity": {
                    "x": 0.20594307780265808,
                    "y": 7.35928201675415,
                    "z": -0.060483045876026154
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.43352746963501,
                "transform": {
                    "location": {
                        "x": 214.84210205078125,
                        "y": 5563.1806640625,
                        "z": 365.5580749511719
                    },
                    "rotation": {
                        "roll": -0.0007019108161330223,
                        "pitch": -0.5197773575782776,
                        "yaw": 88.28143310546875
                    }
                },
                "velocity": {
                    "x": 0.16212579607963562,
                    "y": 5.430932521820068,
                    "z": -0.04367482662200928
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0029213607776910067,
                "transform": {
                    "location": {
                        "x": 184.6969451904297,
                        "y": 5583.57421875,
                        "z": 365.53558349609375
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": -0.7062346935272217,
                        "yaw": -0.1259765326976776
                    }
                },
                "velocity": {
                    "x": -0.00291953282430768,
                    "y": -3.622432268457487e-05,
                    "z": 9.676931222202256e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.381685620406643e-05,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.54486083984375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.683141827583313,
                        "yaw": 0.029850682243704796
                    }
                },
                "velocity": {
                    "x": 3.427304181968793e-05,
                    "y": -7.2909033406176604e-06,
                    "z": -7.614109199494123e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006135408766567707,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.2292286303127185e-05,
                    "y": 1.6666850569890812e-05,
                    "z": 0.0006129092071205378
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034951569978147745,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -3.6420224205357954e-05,
                    "y": -1.9788802092080005e-05,
                    "z": 0.0003470492665655911
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.250510215759277,
                "transform": {
                    "location": {
                        "x": 215.3574981689453,
                        "y": 5582.9365234375,
                        "z": 365.3935852050781
                    },
                    "rotation": {
                        "roll": -0.0636291429400444,
                        "pitch": 0.007936679758131504,
                        "yaw": 89.08287048339844
                    }
                },
                "velocity": {
                    "x": 0.17131048440933228,
                    "y": 11.248788833618164,
                    "z": -0.09683961421251297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005919940886087716,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 1.4630034456786234e-05,
                    "y": -2.337553451070562e-05,
                    "z": 0.0005913514760322869
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008601515437476337,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": -4.6822464355500415e-05,
                    "y": 3.6078425182495266e-05,
                    "z": 0.0008581181173212826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00014334828301798552,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.716785118333064e-05,
                    "y": -1.435902959201485e-05,
                    "z": 0.00014159029524307698
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00029671922675333917,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -7.56397821533028e-06,
                    "y": -4.356461431598291e-06,
                    "z": -0.0002965907915495336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001076872693374753,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.581467586220242e-05,
                    "y": -3.461911910562776e-05,
                    "z": 0.0010761999292299151
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2665345668792725,
                "transform": {
                    "location": {
                        "x": 216.597412109375,
                        "y": 5620.66796875,
                        "z": 365.13037109375
                    },
                    "rotation": {
                        "roll": 0.0041559068486094475,
                        "pitch": 0.4656481146812439,
                        "yaw": -82.87996673583984
                    }
                },
                "velocity": {
                    "x": 0.2686831057071686,
                    "y": -2.2505030632019043,
                    "z": 0.014965219423174858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7827386260032654,
                "transform": {
                    "location": {
                        "x": 217.6726531982422,
                        "y": 5608.916015625,
                        "z": 365.2107238769531
                    },
                    "rotation": {
                        "roll": 0.003679205197840929,
                        "pitch": 0.31183910369873047,
                        "yaw": -85.53759002685547
                    }
                },
                "velocity": {
                    "x": 0.057954367250204086,
                    "y": -0.7805714011192322,
                    "z": 0.005415077321231365
                },
                "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": -0.5781779885292053,
        "expert_target_speed": 10.0,
        "target_point": [
            10.963623444060515,
            -9.432565050210298
        ],
        "target_point_next": [
            11.233995982609375,
            -60.43184303880284
        ]
    },
    "435": {
        "acceleration": [
            0.02314699813723564,
            -0.07686018943786621,
            0.0029579130932688713
        ],
        "angular_velocity": [
            -0.15376625955104828,
            -0.019200269132852554,
            0.4984612464904785
        ],
        "forward_vector": [
            -0.008713584393262863,
            -0.9999400973320007,
            0.006623696070164442
        ],
        "right_vector": [
            0.9999620318412781,
            -0.008713595569133759,
            2.7163650884176604e-05
        ],
        "location": [
            218.19781494140625,
            5590.95751953125,
            365.3367004394531
        ],
        "rotation": [
            -0.0015563967172056437,
            0.37951260805130005,
            -90.499267578125
        ],
        "velocity": [
            -0.010237121023237705,
            -0.412236750125885,
            0.002361907856538892
        ],
        "speed": 0.4123638403172565,
        "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": 16.487836837768555,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                5.053579570812872e-06,
                3.195141471223906e-05,
                0.00013046202366240323
            ],
            "speed_kmh": 0.00048388568337923783,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.474536895751953,
                "transform": {
                    "location": {
                        "x": 170.50914001464844,
                        "y": 5583.5380859375,
                        "z": 365.71087646484375
                    },
                    "rotation": {
                        "roll": -0.023468017578125,
                        "pitch": -0.22708328068256378,
                        "yaw": 0.3655446469783783
                    }
                },
                "velocity": {
                    "x": 4.473885536193848,
                    "y": 0.04747895523905754,
                    "z": -0.05977024883031845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2580065727233887,
                "transform": {
                    "location": {
                        "x": 173.689208984375,
                        "y": 5586.80908203125,
                        "z": 365.6780090332031
                    },
                    "rotation": {
                        "roll": -0.006713866721838713,
                        "pitch": -0.8660884499549866,
                        "yaw": 0.32132694125175476
                    }
                },
                "velocity": {
                    "x": 2.257766008377075,
                    "y": 0.009896863251924515,
                    "z": -0.0314447358250618
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.226835250854492,
                "transform": {
                    "location": {
                        "x": 214.35374450683594,
                        "y": 5546.6748046875,
                        "z": 365.6851806640625
                    },
                    "rotation": {
                        "roll": 0.0038936783093959093,
                        "pitch": -0.34408441185951233,
                        "yaw": 88.3662338256836
                    }
                },
                "velocity": {
                    "x": 0.2347874641418457,
                    "y": 8.223214149475098,
                    "z": -0.06669316440820694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.117608070373535,
                "transform": {
                    "location": {
                        "x": 214.8816375732422,
                        "y": 5564.49658203125,
                        "z": 365.5477294921875
                    },
                    "rotation": {
                        "roll": 0.0004253032966516912,
                        "pitch": -0.5173936486244202,
                        "yaw": 88.28337097167969
                    }
                },
                "velocity": {
                    "x": 0.15328504145145416,
                    "y": 5.115150451660156,
                    "z": -0.04066191986203194
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00025768630439415574,
                "transform": {
                    "location": {
                        "x": 184.69834899902344,
                        "y": 5583.57421875,
                        "z": 365.5343933105469
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.5633813142776489,
                        "yaw": -0.1260070651769638
                    }
                },
                "velocity": {
                    "x": 9.296216012444347e-05,
                    "y": -8.733234426472336e-05,
                    "z": 0.00022390474623534828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.209133087191731e-05,
                "transform": {
                    "location": {
                        "x": 183.663818359375,
                        "y": 5586.8291015625,
                        "z": 365.54486083984375
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.683141827583313,
                        "yaw": 0.029850682243704796
                    }
                },
                "velocity": {
                    "x": 3.6971643567085266e-05,
                    "y": -7.950841904857953e-07,
                    "z": -3.6687491956399754e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008192674722522497,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.4847704228013754e-05,
                    "y": 9.839061476668576e-07,
                    "z": 0.0008185254409909248
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018831646593753248,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -1.901969335449394e-05,
                    "y": -1.2714170225081034e-05,
                    "z": 0.00018692162120714784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.24855899810791,
                "transform": {
                    "location": {
                        "x": 215.39703369140625,
                        "y": 5585.87939453125,
                        "z": 365.37030029296875
                    },
                    "rotation": {
                        "roll": -0.0924072265625,
                        "pitch": 0.07219509780406952,
                        "yaw": 89.34375762939453
                    }
                },
                "velocity": {
                    "x": 0.11404603719711304,
                    "y": 12.247702598571777,
                    "z": -0.08936868607997894
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001443191576981917,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.7955659283616114e-06,
                    "y": 2.553408421590575e-06,
                    "z": 0.00014421685773413628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0016137893544510007,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": -8.535235792805906e-06,
                    "y": 5.443915597425075e-06,
                    "z": 0.001613757573068142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2032911399728619e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -7.926449143269565e-06,
                    "y": 7.713522791163996e-06,
                    "z": -4.7396115405717865e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003347806923557073,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -3.888010724040214e-06,
                    "y": 8.240108968493587e-07,
                    "z": -0.0003347570891492069
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013441269402392209,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 5.053579570812872e-06,
                    "y": 3.195141471223906e-05,
                    "z": 0.00013046202366240323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6656146049499512,
                "transform": {
                    "location": {
                        "x": 216.65663146972656,
                        "y": 5620.1728515625,
                        "z": 365.1336975097656
                    },
                    "rotation": {
                        "roll": 0.00372548820450902,
                        "pitch": 0.361173540353775,
                        "yaw": -82.85380554199219
                    }
                },
                "velocity": {
                    "x": 0.19728820025920868,
                    "y": -1.6538416147232056,
                    "z": 0.012547130696475506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4333152770996094,
                "transform": {
                    "location": {
                        "x": 217.69070434570312,
                        "y": 5608.6171875,
                        "z": 365.21185302734375
                    },
                    "rotation": {
                        "roll": 0.025139478966593742,
                        "pitch": 0.5980035066604614,
                        "yaw": -85.76629638671875
                    }
                },
                "velocity": {
                    "x": 0.08217088878154755,
                    "y": -1.430930733680725,
                    "z": 0.008828716352581978
                },
                "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": -0.6007831692695618,
        "expert_target_speed": 10.0,
        "target_point": [
            10.866190481258792,
            -9.42016645513576
        ],
        "target_point_next": [
            11.188044821921906,
            -60.41914552776758
        ]
    },
    "440": {
        "acceleration": [
            -0.0015771016478538513,
            1.3452106714248657,
            -0.001985738053917885
        ],
        "angular_velocity": [
            0.21552586555480957,
            0.01614741049706936,
            -0.8203840255737305
        ],
        "forward_vector": [
            -0.009517130441963673,
            -0.9999336004257202,
            0.006500078830868006
        ],
        "right_vector": [
            0.9999547004699707,
            -0.009517214260995388,
            1.8109565644408576e-05
        ],
        "location": [
            218.19601440429688,
            5590.8701171875,
            365.3373107910156
        ],
        "rotation": [
            -0.0010376236168667674,
            0.3724296987056732,
            -90.5453109741211
        ],
        "velocity": [
            -0.010115827433764935,
            -0.28470632433891296,
            0.001887311926111579
        ],
        "speed": 0.28488597909206415,
        "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": 16.43134880065918,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -3.228261903132079e-06,
                9.664974641054869e-06,
                0.0001506778207840398
            ],
            "speed_kmh": 0.0005436791356618097,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.204869270324707,
                "transform": {
                    "location": {
                        "x": 171.7694549560547,
                        "y": 5583.54736328125,
                        "z": 365.6944885253906
                    },
                    "rotation": {
                        "roll": 0.009197279810905457,
                        "pitch": -0.3320291340351105,
                        "yaw": 0.4022715389728546
                    }
                },
                "velocity": {
                    "x": 5.204306125640869,
                    "y": 0.02618728019297123,
                    "z": -0.0719539225101471
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0054629030637443066,
                "transform": {
                    "location": {
                        "x": 174.0934295654297,
                        "y": 5586.81103515625,
                        "z": 365.6705017089844
                    },
                    "rotation": {
                        "roll": -0.006408690474927425,
                        "pitch": -0.6264034509658813,
                        "yaw": 0.31363755464553833
                    }
                },
                "velocity": {
                    "x": 0.005458526313304901,
                    "y": -5.700424298993312e-05,
                    "z": 0.00021107628708705306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.373311996459961,
                "transform": {
                    "location": {
                        "x": 214.409912109375,
                        "y": 5548.638671875,
                        "z": 365.6692199707031
                    },
                    "rotation": {
                        "roll": 0.000871530850417912,
                        "pitch": -0.55865478515625,
                        "yaw": 88.37437438964844
                    }
                },
                "velocity": {
                    "x": 0.21177197992801666,
                    "y": 7.370029926300049,
                    "z": -0.059528522193431854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.532979965209961,
                "transform": {
                    "location": {
                        "x": 214.91539001464844,
                        "y": 5565.72998046875,
                        "z": 365.5381164550781
                    },
                    "rotation": {
                        "roll": 0.00965851079672575,
                        "pitch": -0.5612434148788452,
                        "yaw": 87.7825698852539
                    }
                },
                "velocity": {
                    "x": 0.14837424457073212,
                    "y": 4.530395984649658,
                    "z": -0.03749341517686844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00022201213869266212,
                "transform": {
                    "location": {
                        "x": 184.6980438232422,
                        "y": 5583.57421875,
                        "z": 365.53466796875
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.594260573387146,
                        "yaw": -0.12603759765625
                    }
                },
                "velocity": {
                    "x": 0.00020209304057061672,
                    "y": 1.4954123798816e-05,
                    "z": -9.068718645721674e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.40222617983818054,
                "transform": {
                    "location": {
                        "x": 183.69476318359375,
                        "y": 5586.8291015625,
                        "z": 365.5447082519531
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": -0.7156944870948792,
                        "yaw": 0.03345780074596405
                    }
                },
                "velocity": {
                    "x": 0.40219786763191223,
                    "y": -0.0001975906197912991,
                    "z": -0.0047669121995568275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002577163395471871,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.0263065127655864e-05,
                    "y": 3.3843655273813056e-06,
                    "z": 0.00025591091252863407
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000454900466138497,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -3.9771050069248304e-05,
                    "y": 2.2877160517964512e-05,
                    "z": 0.00045258074533194304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.233607292175293,
                "transform": {
                    "location": {
                        "x": 215.4207763671875,
                        "y": 5589.06982421875,
                        "z": 365.3481140136719
                    },
                    "rotation": {
                        "roll": -0.0893554612994194,
                        "pitch": 0.058261509984731674,
                        "yaw": 89.69068908691406
                    }
                },
                "velocity": {
                    "x": 0.07194893807172775,
                    "y": 13.233097076416016,
                    "z": -0.09128843992948532
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006328700110316277,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 1.417716975993244e-05,
                    "y": 1.0326304618502036e-05,
                    "z": 0.000632626935839653
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006329750176519156,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": -1.6603729818598367e-05,
                    "y": -9.949754894478247e-05,
                    "z": 0.0006248855497688055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5198985238384921e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.4493241906166077e-05,
                    "y": 3.43294800586591e-06,
                    "z": -3.028196715604281e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00034921112819574773,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -9.543951819068752e-06,
                    "y": 8.704179890628438e-06,
                    "z": -0.0003489721566438675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015102197357919067,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -3.228261903132079e-06,
                    "y": 9.664974641054869e-06,
                    "z": 0.0001506778207840398
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2311418056488037,
                "transform": {
                    "location": {
                        "x": 216.7128143310547,
                        "y": 5619.69873046875,
                        "z": 365.1373596191406
                    },
                    "rotation": {
                        "roll": 0.008102412335574627,
                        "pitch": 0.46010884642601013,
                        "yaw": -82.88381958007812
                    }
                },
                "velocity": {
                    "x": 0.2629792392253876,
                    "y": -2.2155351638793945,
                    "z": 0.015480260364711285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6154945492744446,
                "transform": {
                    "location": {
                        "x": 217.69586181640625,
                        "y": 5608.5302734375,
                        "z": 365.2135925292969
                    },
                    "rotation": {
                        "roll": 0.004659747239202261,
                        "pitch": 0.3008083403110504,
                        "yaw": -85.78338623046875
                    }
                },
                "velocity": {
                    "x": 0.03719046711921692,
                    "y": -0.6143571138381958,
                    "z": 0.003969945944845676
                },
                "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": -0.6123420596122742,
        "expert_target_speed": 10.0,
        "target_point": [
            10.786349252890908,
            -9.410453847274123
        ],
        "target_point_next": [
            11.149228302315347,
            -60.40915751180692
        ]
    },
    "445": {
        "acceleration": [
            -0.06314504146575928,
            -1.2891119718551636,
            0.006221388466656208
        ],
        "angular_velocity": [
            -0.24619270861148834,
            0.00021781898976769298,
            0.45258644223213196
        ],
        "forward_vector": [
            -0.010423854924738407,
            -0.9999210834503174,
            0.007008375599980354
        ],
        "right_vector": [
            0.9999456405639648,
            -0.010423793457448483,
            4.527228884398937e-05
        ],
        "location": [
            218.1942138671875,
            5590.78173828125,
            365.33782958984375
        ],
        "rotation": [
            -0.0025939748156815767,
            0.4015536308288574,
            -90.5972671508789
        ],
        "velocity": [
            -0.009118055924773216,
            -0.37741178274154663,
            0.0023214530665427446
        ],
        "speed": 0.37752191021979065,
        "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": 16.374488830566406,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                5.564391358348075e-06,
                5.466619404614903e-05,
                0.0004319683648645878
            ],
            "speed_kmh": 0.0015676171931072317,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.011478296481072903,
                "transform": {
                    "location": {
                        "x": 172.38539123535156,
                        "y": 5583.5537109375,
                        "z": 365.69183349609375
                    },
                    "rotation": {
                        "roll": 0.010629061609506607,
                        "pitch": -2.012023448944092,
                        "yaw": 0.12895135581493378
                    }
                },
                "velocity": {
                    "x": 0.01111633237451315,
                    "y": 0.0022913715802133083,
                    "z": -0.0017111578490585089
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008240729221142828,
                "transform": {
                    "location": {
                        "x": 174.0929718017578,
                        "y": 5586.81103515625,
                        "z": 365.6712341308594
                    },
                    "rotation": {
                        "roll": -0.006866454612463713,
                        "pitch": -0.7178938388824463,
                        "yaw": 0.31360334157943726
                    }
                },
                "velocity": {
                    "x": -0.0006510518142022192,
                    "y": -7.63781281420961e-05,
                    "z": 0.000499393732752651
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.661122798919678,
                "transform": {
                    "location": {
                        "x": 214.45835876464844,
                        "y": 5550.30126953125,
                        "z": 365.6558837890625
                    },
                    "rotation": {
                        "roll": 0.00011262797488598153,
                        "pitch": -0.7596672773361206,
                        "yaw": 88.30926513671875
                    }
                },
                "velocity": {
                    "x": 0.1657671481370926,
                    "y": 5.658508777618408,
                    "z": -0.045943014323711395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.456352233886719,
                "transform": {
                    "location": {
                        "x": 214.95054626464844,
                        "y": 5566.84619140625,
                        "z": 365.529052734375
                    },
                    "rotation": {
                        "roll": 0.0045820870436728,
                        "pitch": -0.5409509539604187,
                        "yaw": 87.76949310302734
                    }
                },
                "velocity": {
                    "x": 0.1405756026506424,
                    "y": 4.454001426696777,
                    "z": -0.03440742939710617
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001684001908870414,
                "transform": {
                    "location": {
                        "x": 184.69781494140625,
                        "y": 5583.57421875,
                        "z": 365.5348815917969
                    },
                    "rotation": {
                        "roll": -0.00018310554150957614,
                        "pitch": -0.6196278929710388,
                        "yaw": -0.1260681003332138
                    }
                },
                "velocity": {
                    "x": 0.00013288781337905675,
                    "y": 1.395961044181604e-05,
                    "z": -0.00010249186743749306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2293508052825928,
                "transform": {
                    "location": {
                        "x": 183.89749145507812,
                        "y": 5586.8291015625,
                        "z": 365.5426025390625
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.7610469460487366,
                        "yaw": -0.009124754928052425
                    }
                },
                "velocity": {
                    "x": 1.2292587757110596,
                    "y": -0.002942910185083747,
                    "z": -0.014750747010111809
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015862965665291995,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.7807653168565594e-05,
                    "y": -2.5896355509757996e-05,
                    "z": -0.00015401130076497793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021033994562458247,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.6390939354896545,
                        "yaw": 179.9112091064453
                    }
                },
                "velocity": {
                    "x": -2.5611816454329528e-05,
                    "y": -1.6605335986241698e-05,
                    "z": -0.00020811341528315097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.208388328552246,
                "transform": {
                    "location": {
                        "x": 215.42250061035156,
                        "y": 5592.50537109375,
                        "z": 365.32415771484375
                    },
                    "rotation": {
                        "roll": -0.1510619968175888,
                        "pitch": 0.04184173792600632,
                        "yaw": 90.2160873413086
                    }
                },
                "velocity": {
                    "x": -0.060101937502622604,
                    "y": 14.207904815673828,
                    "z": -0.10057025402784348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019392753893043846,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": -3.815870513790287e-06,
                    "y": -1.8116930732503533e-05,
                    "z": 0.00019304172019474208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008546846220269799,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 1.296941172768129e-05,
                    "y": -5.9105141190229915e-06,
                    "z": 0.0008545657619833946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003242915263399482,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -9.293854418501724e-06,
                    "y": -7.470147465937771e-06,
                    "z": 0.0003240722289774567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.486555968062021e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -6.172247140057152e-06,
                    "y": -1.9349774447618984e-05,
                    "z": -1.4345229828904849e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004354492120910436,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 5.564391358348075e-06,
                    "y": 5.466619404614903e-05,
                    "z": 0.0004319683648645878
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0028526396490633488,
                "transform": {
                    "location": {
                        "x": 216.7578887939453,
                        "y": 5619.32177734375,
                        "z": 365.1396484375
                    },
                    "rotation": {
                        "roll": -0.0004577640211209655,
                        "pitch": 0.13613249361515045,
                        "yaw": -82.82720184326172
                    }
                },
                "velocity": {
                    "x": 0.00010762727470137179,
                    "y": -0.0027951528318226337,
                    "z": 0.0005595440743491054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.16907890141010284,
                "transform": {
                    "location": {
                        "x": 217.70851135253906,
                        "y": 5608.3193359375,
                        "z": 365.2145690917969
                    },
                    "rotation": {
                        "roll": 0.006030699238181114,
                        "pitch": 0.4212792217731476,
                        "yaw": -85.90899658203125
                    }
                },
                "velocity": {
                    "x": 0.008472542278468609,
                    "y": -0.16886548697948456,
                    "z": 0.0005800724029541016
                },
                "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": -0.633341908454895,
        "expert_target_speed": 10.0,
        "target_point": [
            10.70644635884325,
            -9.399834236668045
        ],
        "target_point_next": [
            11.115359373806392,
            -60.39818957106618
        ]
    },
    "450": {
        "acceleration": [
            0.024683289229869843,
            0.9673631191253662,
            -0.018901444971561432
        ],
        "angular_velocity": [
            0.1563950628042221,
            0.017636550590395927,
            -1.0435187816619873
        ],
        "forward_vector": [
            -0.01123739778995514,
            -0.9999129176139832,
            0.006924573332071304
        ],
        "right_vector": [
            0.9999368786811829,
            -0.011237390339374542,
            3.994652070105076e-05
        ],
        "location": [
            218.19248962402344,
            5590.69970703125,
            365.3384704589844
        ],
        "rotation": [
            -0.002288821851834655,
            0.3967519998550415,
            -90.64388275146484
        ],
        "velocity": [
            -0.007494711317121983,
            -0.29692527651786804,
            0.0011215686099603772
        ],
        "speed": 0.29701984871880094,
        "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": 16.322004318237305,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.8462537809682544e-06,
                -7.713472768955398e-06,
                0.0006651674048043787
            ],
            "speed_kmh": 0.0023947728811251974,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.933045744895935,
                "transform": {
                    "location": {
                        "x": 172.6964874267578,
                        "y": 5583.5546875,
                        "z": 365.6837463378906
                    },
                    "rotation": {
                        "roll": 0.003866962855681777,
                        "pitch": -1.0077465772628784,
                        "yaw": 0.15174579620361328
                    }
                },
                "velocity": {
                    "x": 1.9328581094741821,
                    "y": 0.007861630991101265,
                    "z": -0.025757011026144028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002566247130744159,
                "transform": {
                    "location": {
                        "x": 174.0926513671875,
                        "y": 5586.81103515625,
                        "z": 365.6717224121094
                    },
                    "rotation": {
                        "roll": -0.006103514228016138,
                        "pitch": -0.7758752703666687,
                        "yaw": 0.31357839703559875
                    }
                },
                "velocity": {
                    "x": -5.5031327065080404e-05,
                    "y": -0.00011752067075576633,
                    "z": 0.00022139713109936565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.189239263534546,
                "transform": {
                    "location": {
                        "x": 214.4832763671875,
                        "y": 5551.15478515625,
                        "z": 365.6486511230469
                    },
                    "rotation": {
                        "roll": 2.1560363165917806e-05,
                        "pitch": -0.8862033486366272,
                        "yaw": 88.28629302978516
                    }
                },
                "velocity": {
                    "x": 0.09458187222480774,
                    "y": 3.187748908996582,
                    "z": -0.023631729185581207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.530523777008057,
                "transform": {
                    "location": {
                        "x": 214.9881134033203,
                        "y": 5567.99755859375,
                        "z": 365.5191955566406
                    },
                    "rotation": {
                        "roll": -9.156958549283445e-05,
                        "pitch": -0.4116486608982086,
                        "yaw": 87.97012329101562
                    }
                },
                "velocity": {
                    "x": 0.13940006494522095,
                    "y": 4.528229713439941,
                    "z": -0.036739129573106766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.659249210206326e-05,
                "transform": {
                    "location": {
                        "x": 184.69781494140625,
                        "y": 5583.57421875,
                        "z": 365.5348815917969
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.6216769814491272,
                        "yaw": -0.1260986328125
                    }
                },
                "velocity": {
                    "x": 1.077175147656817e-05,
                    "y": 1.1625847037066706e-05,
                    "z": 4.911192718282109e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0400145053863525,
                "transform": {
                    "location": {
                        "x": 184.3134307861328,
                        "y": 5586.82861328125,
                        "z": 365.53826904296875
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": -0.7494493126869202,
                        "yaw": -0.0171508751809597
                    }
                },
                "velocity": {
                    "x": 2.0399272441864014,
                    "y": -0.0034902417100965977,
                    "z": -0.018524307757616043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005955536616966128,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.399876575509552e-05,
                    "y": 4.221005383442389e-06,
                    "z": 0.0005950549384579062
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00024118176952470094,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -0.6401048302650452,
                        "yaw": 179.9107208251953
                    }
                },
                "velocity": {
                    "x": -3.6611185350921005e-05,
                    "y": -5.484829671331681e-05,
                    "z": 0.00023199123097583652
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.629552841186523,
                "transform": {
                    "location": {
                        "x": 215.3866424560547,
                        "y": 5596.1328125,
                        "z": 365.2989501953125
                    },
                    "rotation": {
                        "roll": -0.242034912109375,
                        "pitch": -0.0963124930858612,
                        "yaw": 90.96649169921875
                    }
                },
                "velocity": {
                    "x": -0.26004835963249207,
                    "y": 14.626873016357422,
                    "z": -0.10375189781188965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.200202187756076e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 6.788894552300917e-06,
                    "y": -1.564955346111674e-05,
                    "z": 5.9609174059005454e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014186825137585402,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 1.9908118702005595e-05,
                    "y": 0.0001037881156662479,
                    "z": 0.001414740807376802
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004206396988593042,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.4813579582551029e-05,
                    "y": -8.397026249440387e-06,
                    "z": -0.00042029490577988327
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006652146694250405,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.8462537809682544e-06,
                    "y": -7.713472768955398e-06,
                    "z": 0.0006651674048043787
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2117936611175537,
                "transform": {
                    "location": {
                        "x": 216.77999877929688,
                        "y": 5619.13623046875,
                        "z": 365.1414489746094
                    },
                    "rotation": {
                        "roll": 0.007027322892099619,
                        "pitch": 0.4381292760372162,
                        "yaw": -82.89973449707031
                    }
                },
                "velocity": {
                    "x": 0.14204198122024536,
                    "y": -1.2034223079681396,
                    "z": 0.006527175661176443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0402672290802002,
                "transform": {
                    "location": {
                        "x": 217.71702575683594,
                        "y": 5608.1728515625,
                        "z": 365.2153015136719
                    },
                    "rotation": {
                        "roll": 0.011254140175879002,
                        "pitch": 0.5086168646812439,
                        "yaw": -85.97441101074219
                    }
                },
                "velocity": {
                    "x": 0.060324303805828094,
                    "y": -1.038495421409607,
                    "z": 0.006643285509198904
                },
                "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": -0.654187023639679,
        "expert_target_speed": 10.0,
        "target_point": [
            10.63210219733326,
            -9.390253128934596
        ],
        "target_point_next": [
            11.08281755896301,
            -60.3882561518975
        ]
    },
    "455": {
        "acceleration": [
            0.01371081918478012,
            0.4704827070236206,
            0.00505905132740736
        ],
        "angular_velocity": [
            0.09646172821521759,
            -0.04373442754149437,
            -0.3380063474178314
        ],
        "forward_vector": [
            -0.011835544370114803,
            -0.9999067783355713,
            0.006813830696046352
        ],
        "right_vector": [
            0.9999299645423889,
            -0.011835608631372452,
            3.089173333137296e-05
        ],
        "location": [
            218.19061279296875,
            5590.6259765625,
            365.33892822265625
        ],
        "rotation": [
            -0.0017700070748105645,
            0.3904067575931549,
            -90.67816162109375
        ],
        "velocity": [
            -0.007552281953394413,
            -0.2588360607624054,
            0.0018825531005859375
        ],
        "speed": 0.2589462170291414,
        "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": 16.275285720825195,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.8757245925371535e-05,
                -5.8418441767571494e-05,
                0.0011062666308134794
            ],
            "speed_kmh": 0.003988680442898132,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1904184818267822,
                "transform": {
                    "location": {
                        "x": 173.27328491210938,
                        "y": 5583.5576171875,
                        "z": 365.6748352050781
                    },
                    "rotation": {
                        "roll": -0.003509521484375,
                        "pitch": -0.7158174514770508,
                        "yaw": 0.2900572121143341
                    }
                },
                "velocity": {
                    "x": 2.190182685852051,
                    "y": 0.008479142561554909,
                    "z": -0.03099852055311203
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.12499838322401047,
                "transform": {
                    "location": {
                        "x": 174.10031127929688,
                        "y": 5586.81103515625,
                        "z": 365.6717529296875
                    },
                    "rotation": {
                        "roll": -0.005828857421875,
                        "pitch": -0.7963863611221313,
                        "yaw": 0.3164530098438263
                    }
                },
                "velocity": {
                    "x": 0.1249777227640152,
                    "y": 0.0005324117373675108,
                    "z": -0.0022094058804214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.469094753265381,
                "transform": {
                    "location": {
                        "x": 214.51280212402344,
                        "y": 5552.142578125,
                        "z": 365.64105224609375
                    },
                    "rotation": {
                        "roll": -0.001281765173189342,
                        "pitch": -0.3518981635570526,
                        "yaw": 88.28973388671875
                    }
                },
                "velocity": {
                    "x": 0.1324857920408249,
                    "y": 4.466999530792236,
                    "z": -0.034193530678749084
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.134943008422852,
                "transform": {
                    "location": {
                        "x": 215.02194213867188,
                        "y": 5569.07177734375,
                        "z": 365.51171875
                    },
                    "rotation": {
                        "roll": 0.00728622917085886,
                        "pitch": -0.5299338698387146,
                        "yaw": 88.11341094970703
                    }
                },
                "velocity": {
                    "x": 0.12337610870599747,
                    "y": 4.132972717285156,
                    "z": -0.032679274678230286
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001540431403554976,
                "transform": {
                    "location": {
                        "x": 184.69781494140625,
                        "y": 5583.57421875,
                        "z": 365.5348815917969
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.6216769814491272,
                        "yaw": -0.1260986328125
                    }
                },
                "velocity": {
                    "x": 1.2691244592133444e-05,
                    "y": 1.5440791685250588e-05,
                    "z": -0.00015274097677320242
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.005682886578142643,
                "transform": {
                    "location": {
                        "x": 184.70413208007812,
                        "y": 5586.828125,
                        "z": 365.53271484375
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.4957282841205597,
                        "yaw": -0.017364501953125
                    }
                },
                "velocity": {
                    "x": 0.005637540481984615,
                    "y": -1.625208096811548e-05,
                    "z": -0.0007162892143242061
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00039618698065169156,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.4150311219273135e-05,
                    "y": 3.0631304980488494e-05,
                    "z": -0.0003942621115129441
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019643273844849318,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.6402209401130676,
                        "yaw": 179.9107208251953
                    }
                },
                "velocity": {
                    "x": -2.186037636420224e-05,
                    "y": -3.037919304915704e-05,
                    "z": 0.00019283425353933126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.449565887451172,
                "transform": {
                    "location": {
                        "x": 215.3055419921875,
                        "y": 5599.7646484375,
                        "z": 365.2741394042969
                    },
                    "rotation": {
                        "roll": -0.2630005180835724,
                        "pitch": -0.3414957821369171,
                        "yaw": 91.6255111694336
                    }
                },
                "velocity": {
                    "x": -0.45161741971969604,
                    "y": 14.442136764526367,
                    "z": -0.10335210710763931
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003746880393009633,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.054697339801351e-06,
                    "y": -2.9428815651044715e-06,
                    "z": 0.0003746424044948071
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011923408601433039,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 2.1569729142356664e-05,
                    "y": -2.3033921024762094e-05,
                    "z": 0.0011919231619685888
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000998778617940843,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.7478017980465665e-05,
                    "y": -1.422149216523394e-05,
                    "z": 0.000998524366877973
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.717213884461671e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -7.323958016058896e-06,
                    "y": -2.634810698509682e-05,
                    "z": -7.216422818601131e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00110796676017344,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.8757245925371535e-05,
                    "y": -5.8418441767571494e-05,
                    "z": 0.0011062666308134794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.169401168823242,
                "transform": {
                    "location": {
                        "x": 216.82843017578125,
                        "y": 5618.7021484375,
                        "z": 365.14459228515625
                    },
                    "rotation": {
                        "roll": 0.020839808508753777,
                        "pitch": 0.5333216190338135,
                        "yaw": -83.12572479248047
                    }
                },
                "velocity": {
                    "x": 0.22516459226608276,
                    "y": -2.157634735107422,
                    "z": 0.014643334783613682
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7392557859420776,
                "transform": {
                    "location": {
                        "x": 217.7235870361328,
                        "y": 5608.0673828125,
                        "z": 365.21630859375
                    },
                    "rotation": {
                        "roll": 0.004729192703962326,
                        "pitch": 0.420322984457016,
                        "yaw": -86.07811737060547
                    }
                },
                "velocity": {
                    "x": 0.04438532143831253,
                    "y": -0.7379099130630493,
                    "z": 0.0042481133714318275
                },
                "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": -0.6669215559959412,
        "expert_target_speed": 10.0,
        "target_point": [
            10.56388717864877,
            -9.382980771410343
        ],
        "target_point_next": [
            11.04465919040337,
            -60.38070929866982
        ]
    },
    "460": {
        "acceleration": [
            0.004927897825837135,
            0.2741748094558716,
            0.0007398612797260284
        ],
        "angular_velocity": [
            0.024148564785718918,
            -0.012875271029770374,
            0.023366235196590424
        ],
        "forward_vector": [
            -0.012475757859647274,
            -0.99989914894104,
            0.006783790420740843
        ],
        "right_vector": [
            0.9999221563339233,
            -0.012475755997002125,
            4.2609404772520065e-05
        ],
        "location": [
            218.18882751464844,
            5590.564453125,
            365.33941650390625
        ],
        "rotation": [
            -0.0024413950741291046,
            0.38868555426597595,
            -90.71484375
        ],
        "velocity": [
            -0.0065591889433562756,
            -0.2196362316608429,
            0.001983365975320339
        ],
        "speed": 0.2197341512322791,
        "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": 16.236623764038086,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -2.6730820536613464e-05,
                -4.9047830543713644e-05,
                0.0004026718670502305
            ],
            "speed_kmh": 0.0014635001100576518,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7675374746322632,
                "transform": {
                    "location": {
                        "x": 173.7274169921875,
                        "y": 5583.55859375,
                        "z": 365.66925048828125
                    },
                    "rotation": {
                        "roll": -0.00958251766860485,
                        "pitch": -0.9138792753219604,
                        "yaw": 0.43803325295448303
                    }
                },
                "velocity": {
                    "x": 1.7673248052597046,
                    "y": 0.009158886037766933,
                    "z": -0.025848444551229477
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8828474879264832,
                "transform": {
                    "location": {
                        "x": 174.2246856689453,
                        "y": 5586.8115234375,
                        "z": 365.67047119140625
                    },
                    "rotation": {
                        "roll": -0.006042480003088713,
                        "pitch": -0.8500648140907288,
                        "yaw": 0.29850417375564575
                    }
                },
                "velocity": {
                    "x": 0.8827633261680603,
                    "y": 0.0034638196229934692,
                    "z": -0.011691770516335964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.765610933303833,
                "transform": {
                    "location": {
                        "x": 214.54312133789062,
                        "y": 5553.16845703125,
                        "z": 365.6328430175781
                    },
                    "rotation": {
                        "roll": -0.001129163894802332,
                        "pitch": -0.5305485725402832,
                        "yaw": 88.29767608642578
                    }
                },
                "velocity": {
                    "x": 0.11093743145465851,
                    "y": 3.763850212097168,
                    "z": -0.030808666720986366
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.061314582824707,
                "transform": {
                    "location": {
                        "x": 215.0525665283203,
                        "y": 5570.0888671875,
                        "z": 365.5036926269531
                    },
                    "rotation": {
                        "roll": 0.01923486776649952,
                        "pitch": -0.49182140827178955,
                        "yaw": 88.20469665527344
                    }
                },
                "velocity": {
                    "x": 0.11397210508584976,
                    "y": 4.059607982635498,
                    "z": -0.029488496482372284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.797567428089678e-05,
                "transform": {
                    "location": {
                        "x": 184.69781494140625,
                        "y": 5583.57421875,
                        "z": 365.5348815917969
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.6216769814491272,
                        "yaw": -0.1260986328125
                    }
                },
                "velocity": {
                    "x": 1.2796148439520039e-05,
                    "y": -5.903393685002811e-06,
                    "z": -5.623688775813207e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007192143239080906,
                "transform": {
                    "location": {
                        "x": 184.70382690429688,
                        "y": 5586.828125,
                        "z": 365.53326416015625
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.5659494400024414,
                        "yaw": -0.01739501766860485
                    }
                },
                "velocity": {
                    "x": -0.0005986194591969252,
                    "y": -0.00012438945122994483,
                    "z": 0.0003787495952565223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010101408697664738,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.3601576685905457e-05,
                    "y": -9.338296877103858e-06,
                    "z": 0.001009821891784668
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00042447546729817986,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.6402209401130676,
                        "yaw": 179.9107208251953
                    }
                },
                "velocity": {
                    "x": -2.6843770683626644e-05,
                    "y": 3.0663654797535855e-06,
                    "z": 0.00042361472151242197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.407246589660645,
                "transform": {
                    "location": {
                        "x": 215.17092895507812,
                        "y": 5603.3642578125,
                        "z": 365.2487487792969
                    },
                    "rotation": {
                        "roll": -0.2738341987133026,
                        "pitch": -0.4078032374382019,
                        "yaw": 92.53275299072266
                    }
                },
                "velocity": {
                    "x": -0.6226689219474792,
                    "y": 14.393412590026855,
                    "z": -0.10354873538017273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001289963402086869,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.008205789636122e-06,
                    "y": -1.0797462834943872e-07,
                    "z": 0.0001288990315515548
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015947078354656696,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 2.6019884899142198e-05,
                    "y": -7.024063233984634e-05,
                    "z": 0.0015929477522149682
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00016347838391084224,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -2.1679996279999614e-05,
                    "y": -2.953283228634973e-06,
                    "z": 0.0001620075199753046
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012470391811802983,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -5.238074663793668e-06,
                    "y": 2.50880134444742e-06,
                    "z": 0.00012456859985832125
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004065278044436127,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -2.6730820536613464e-05,
                    "y": -4.9047830543713644e-05,
                    "z": 0.0004026718670502305
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6735524535179138,
                "transform": {
                    "location": {
                        "x": 216.880859375,
                        "y": 5618.1904296875,
                        "z": 365.14794921875
                    },
                    "rotation": {
                        "roll": 0.0017745780060067773,
                        "pitch": 0.291334867477417,
                        "yaw": -83.62998962402344
                    }
                },
                "velocity": {
                    "x": 0.07189569622278214,
                    "y": -0.6696762442588806,
                    "z": 0.006132106762379408
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.716850757598877,
                "transform": {
                    "location": {
                        "x": 217.73007202148438,
                        "y": 5607.95654296875,
                        "z": 365.2171325683594
                    },
                    "rotation": {
                        "roll": 0.0038307695649564266,
                        "pitch": 0.41536426544189453,
                        "yaw": -86.13675689697266
                    }
                },
                "velocity": {
                    "x": 0.04265279695391655,
                    "y": -0.715566873550415,
                    "z": 0.004449891857802868
                },
                "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": -0.6817362904548645,
        "expert_target_speed": 0,
        "target_point": [
            10.50837076603055,
            -9.375175844279486
        ],
        "target_point_next": [
            11.021898499652883,
            -60.372585052337726
        ]
    },
    "465": {
        "acceleration": [
            0.0022647250443696976,
            -0.5184859037399292,
            0.017445946112275124
        ],
        "angular_velocity": [
            -0.19041632115840912,
            0.026370786130428314,
            0.5220854878425598
        ],
        "forward_vector": [
            -0.013217024505138397,
            -0.9998882412910461,
            0.006984295789152384
        ],
        "right_vector": [
            0.9999126195907593,
            -0.013217027299106121,
            4.580500171869062e-05
        ],
        "location": [
            218.18702697753906,
            5590.5087890625,
            365.3397521972656
        ],
        "rotation": [
            -0.0026244972832500935,
            0.40017393231391907,
            -90.75732421875
        ],
        "velocity": [
            -0.007185232359915972,
            -0.242671936750412,
            0.0023257446009665728
        ],
        "speed": 0.24277828661200726,
        "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": 16.201906204223633,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -3.0821188374829944e-06,
                -1.209891343023628e-05,
                7.751139492029324e-05
            ],
            "speed_kmh": 0.0002826378205186392,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2887051105499268,
                "transform": {
                    "location": {
                        "x": 174.24749755859375,
                        "y": 5583.56103515625,
                        "z": 365.6612854003906
                    },
                    "rotation": {
                        "roll": -0.007110595237463713,
                        "pitch": -0.7055584788322449,
                        "yaw": 0.4122218191623688
                    }
                },
                "velocity": {
                    "x": 2.2884578704833984,
                    "y": 0.011295009404420853,
                    "z": -0.03167768940329552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6932590007781982,
                "transform": {
                    "location": {
                        "x": 174.5585174560547,
                        "y": 5586.81298828125,
                        "z": 365.666015625
                    },
                    "rotation": {
                        "roll": -0.006988524924963713,
                        "pitch": -0.8710881471633911,
                        "yaw": 0.2970621883869171
                    }
                },
                "velocity": {
                    "x": 1.6930902004241943,
                    "y": 0.0074455831199884415,
                    "z": -0.022717241197824478
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.4111127853393555,
                "transform": {
                    "location": {
                        "x": 214.57249450683594,
                        "y": 5554.15625,
                        "z": 365.6249084472656
                    },
                    "rotation": {
                        "roll": 0.0003903167671523988,
                        "pitch": -0.38540706038475037,
                        "yaw": 88.2958984375
                    }
                },
                "velocity": {
                    "x": 0.1321294903755188,
                    "y": 4.40900182723999,
                    "z": -0.03409293666481972
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.804443359375,
                "transform": {
                    "location": {
                        "x": 215.083984375,
                        "y": 5571.18359375,
                        "z": 365.4941711425781
                    },
                    "rotation": {
                        "roll": 0.019210511818528175,
                        "pitch": -0.2894634008407593,
                        "yaw": 88.30363464355469
                    }
                },
                "velocity": {
                    "x": 0.13195398449897766,
                    "y": 4.802504062652588,
                    "z": -0.034923095256090164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1749703591922298e-05,
                "transform": {
                    "location": {
                        "x": 184.69781494140625,
                        "y": 5583.57421875,
                        "z": 365.5348815917969
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.6216769814491272,
                        "yaw": -0.1260986328125
                    }
                },
                "velocity": {
                    "x": 1.673847327765543e-05,
                    "y": -8.318331310874783e-06,
                    "z": -1.1121081115561537e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002839611261151731,
                "transform": {
                    "location": {
                        "x": 184.70350646972656,
                        "y": 5586.828125,
                        "z": 365.53375244140625
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.6215198636054993,
                        "yaw": -0.0174255333840847
                    }
                },
                "velocity": {
                    "x": -6.56173360766843e-05,
                    "y": 0.0001469942508265376,
                    "z": 0.00023392516595777124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003423668094910681,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.8324722734396346e-05,
                    "y": -1.503650537415524e-06,
                    "z": 0.0003411897923797369
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015549083764199167,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6401048302650452,
                        "yaw": 179.91067504882812
                    }
                },
                "velocity": {
                    "x": -2.508953184587881e-05,
                    "y": 1.0691679563024081e-05,
                    "z": 0.00015308038564398885
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.441741943359375,
                "transform": {
                    "location": {
                        "x": 214.98397827148438,
                        "y": 5606.96630859375,
                        "z": 365.22308349609375
                    },
                    "rotation": {
                        "roll": -0.3273315131664276,
                        "pitch": -0.3997504711151123,
                        "yaw": 93.4571304321289
                    }
                },
                "velocity": {
                    "x": -0.8733872175216675,
                    "y": 14.414938926696777,
                    "z": -0.10320007801055908
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00046698792721144855,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.262830771040171e-06,
                    "y": 3.972163540311158e-06,
                    "z": 0.0004669515765272081
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013760628644376993,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 4.7901627112878487e-05,
                    "y": 4.535882544587366e-05,
                    "z": 0.0013744805473834276
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00014064191782381386,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.5009566595836077e-05,
                    "y": 2.1258476408547722e-05,
                    "z": 0.0001382133923470974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001002642311505042,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.1563523912627716e-05,
                    "y": -1.735177283990197e-05,
                    "z": -9.807199967326596e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.851050759200007e-05,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -3.0821188374829944e-06,
                    "y": -1.209891343023628e-05,
                    "z": 7.751139492029324e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.16407442092895508,
                "transform": {
                    "location": {
                        "x": 216.88211059570312,
                        "y": 5618.17919921875,
                        "z": 365.14801025390625
                    },
                    "rotation": {
                        "roll": 0.0005910188774578273,
                        "pitch": 0.28746214509010315,
                        "yaw": -83.63549041748047
                    }
                },
                "velocity": {
                    "x": 0.016834067180752754,
                    "y": -0.16319754719734192,
                    "z": 0.0018946360796689987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9715853929519653,
                "transform": {
                    "location": {
                        "x": 217.74655151367188,
                        "y": 5607.6787109375,
                        "z": 365.21832275390625
                    },
                    "rotation": {
                        "roll": 0.010599647648632526,
                        "pitch": 0.6141569018363953,
                        "yaw": -86.35568237304688
                    }
                },
                "velocity": {
                    "x": 0.058017171919345856,
                    "y": -0.9698246717453003,
                    "z": 0.007230691611766815
                },
                "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": -0.6924134492874146,
        "expert_target_speed": 0,
        "target_point": [
            10.459645336798,
            -9.366306667281881
        ],
        "target_point_next": [
            11.011035210136717,
            -60.363320559027756
        ]
    },
    "470": {
        "acceleration": [
            0.03597814589738846,
            -0.4524892568588257,
            0.014326856471598148
        ],
        "angular_velocity": [
            -0.1199241355061531,
            0.04536426067352295,
            -0.989213228225708
        ],
        "forward_vector": [
            -0.014025396667420864,
            -0.9998765587806702,
            0.00708538293838501
        ],
        "right_vector": [
            0.9999016523361206,
            -0.014025476761162281,
            3.834836752503179e-05
        ],
        "location": [
            218.1852264404297,
            5590.453125,
            365.34014892578125
        ],
        "rotation": [
            -0.002197254914790392,
            0.4059659242630005,
            -90.80364227294922
        ],
        "velocity": [
            -0.00590741541236639,
            -0.23468416929244995,
            0.0022643946576863527
        ],
        "speed": 0.23475850756328634,
        "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": 16.167306900024414,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -4.923075175611302e-05,
                4.830149919143878e-05,
                0.0010689741466194391
            ],
            "speed_kmh": 0.003856308217112383,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0032677045091986656,
                "transform": {
                    "location": {
                        "x": 174.53695678710938,
                        "y": 5583.5625,
                        "z": 365.6597900390625
                    },
                    "rotation": {
                        "roll": -0.01547241024672985,
                        "pitch": -1.3951412439346313,
                        "yaw": 0.4727790951728821
                    }
                },
                "velocity": {
                    "x": 0.003227789653465152,
                    "y": -5.430463716038503e-05,
                    "z": 0.0005062787677161396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00047748806537128985,
                "transform": {
                    "location": {
                        "x": 174.76046752929688,
                        "y": 5586.8134765625,
                        "z": 365.6614685058594
                    },
                    "rotation": {
                        "roll": -0.006500243209302425,
                        "pitch": -0.6498104929924011,
                        "yaw": 0.2941160202026367
                    }
                },
                "velocity": {
                    "x": -0.00013861015031579882,
                    "y": 8.59261563164182e-05,
                    "z": 0.0004487747501116246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.596312999725342,
                "transform": {
                    "location": {
                        "x": 214.60952758789062,
                        "y": 5555.3896484375,
                        "z": 365.6155090332031
                    },
                    "rotation": {
                        "roll": 0.0014156397664919496,
                        "pitch": -0.3717944920063019,
                        "yaw": 88.32356262207031
                    }
                },
                "velocity": {
                    "x": 0.141158327460289,
                    "y": 4.593946933746338,
                    "z": -0.04264500364661217
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.105342388153076,
                "transform": {
                    "location": {
                        "x": 215.11968994140625,
                        "y": 5572.4404296875,
                        "z": 365.4849853515625
                    },
                    "rotation": {
                        "roll": 0.046923864632844925,
                        "pitch": -0.2883296012878418,
                        "yaw": 88.3698959350586
                    }
                },
                "velocity": {
                    "x": 0.1392706334590912,
                    "y": 5.103301048278809,
                    "z": -0.03798376023769379
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0014812072040513158,
                "transform": {
                    "location": {
                        "x": 184.69781494140625,
                        "y": 5583.57421875,
                        "z": 365.5348815917969
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.6194434762001038,
                        "yaw": -0.125762939453125
                    }
                },
                "velocity": {
                    "x": 0.0014770515263080597,
                    "y": -5.7855348131852224e-05,
                    "z": -9.458541899221018e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001009373925626278,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.6294223666191101,
                        "yaw": -0.0174255333840847
                    }
                },
                "velocity": {
                    "x": 8.241459909186233e-06,
                    "y": 1.5776733562233858e-05,
                    "z": 0.0010092169977724552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.13239213230554e-05,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -1.5645324310753495e-05,
                    "y": 7.1266208578890655e-06,
                    "z": -3.757794183911756e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.474768840940669e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6401048302650452,
                        "yaw": 179.91067504882812
                    }
                },
                "velocity": {
                    "x": -2.7115418561152183e-05,
                    "y": 6.4776509134389926e-06,
                    "z": 4.711797373602167e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.442671775817871,
                "transform": {
                    "location": {
                        "x": 214.74452209472656,
                        "y": 5610.5693359375,
                        "z": 365.19744873046875
                    },
                    "rotation": {
                        "roll": -0.3442077338695526,
                        "pitch": -0.4034114480018616,
                        "yaw": 94.24296569824219
                    }
                },
                "velocity": {
                    "x": -1.103659987449646,
                    "y": 14.400068283081055,
                    "z": -0.10354935377836227
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002232683909824118,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.108231223654002e-06,
                    "y": -7.439557066390989e-06,
                    "z": 0.0002231065882369876
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006537472363561392,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 3.775984077947214e-05,
                    "y": 5.82935826969333e-05,
                    "z": 0.0006500473245978355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006852392689324915,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.6511827197973616e-05,
                    "y": -2.254105311294552e-07,
                    "z": 0.0006850402569398284
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.16563847870566e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": 5.86442638450535e-06,
                    "y": -1.3798451163893333e-06,
                    "z": 6.136134470580146e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001071196747943759,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.923075175611302e-05,
                    "y": 4.830149919143878e-05,
                    "z": 0.0010689741466194391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9500387907028198,
                "transform": {
                    "location": {
                        "x": 216.896240234375,
                        "y": 5618.03857421875,
                        "z": 365.1493225097656
                    },
                    "rotation": {
                        "roll": 0.005184134002774954,
                        "pitch": 0.4786801338195801,
                        "yaw": -83.67929077148438
                    }
                },
                "velocity": {
                    "x": 0.09566503018140793,
                    "y": -0.9451901912689209,
                    "z": 0.00611145980656147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7603595852851868,
                "transform": {
                    "location": {
                        "x": 217.7586669921875,
                        "y": 5607.4638671875,
                        "z": 365.22027587890625
                    },
                    "rotation": {
                        "roll": 0.0061515630222857,
                        "pitch": 0.4963771402835846,
                        "yaw": -86.36984252929688
                    }
                },
                "velocity": {
                    "x": 0.040162842720746994,
                    "y": -0.7592795491218567,
                    "z": 0.00531048746779561
                },
                "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": -0.7071951031684875,
        "expert_target_speed": 0,
        "target_point": [
            10.411541681000484,
            -9.356815020677534
        ],
        "target_point_next": [
            11.004222095557202,
            -60.3533657529922
        ]
    },
    "475": {
        "acceleration": [
            0.019987892359495163,
            1.2012571096420288,
            0.007888791151344776
        ],
        "angular_velocity": [
            0.23002266883850098,
            0.003311807755380869,
            0.6229617595672607
        ],
        "forward_vector": [
            -0.014561210758984089,
            -0.9998713731765747,
            0.006720610894262791
        ],
        "right_vector": [
            0.9998939633369446,
            -0.014561071060597897,
            6.977305747568607e-05
        ],
        "location": [
            218.18397521972656,
            5590.4091796875,
            365.3404846191406
        ],
        "rotation": [
            -0.003997792024165392,
            0.38506555557250977,
            -90.83434295654297
        ],
        "velocity": [
            -0.0032568310853093863,
            -0.11180117726325989,
            0.001973714679479599
        ],
        "speed": 0.11184860386329862,
        "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": 16.13994598388672,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.772697942215018e-05,
                1.2364992471702863e-05,
                0.0002996035327669233
            ],
            "speed_kmh": 0.0010813756180317023,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0042221215553581715,
                "transform": {
                    "location": {
                        "x": 174.53836059570312,
                        "y": 5583.5625,
                        "z": 365.65875244140625
                    },
                    "rotation": {
                        "roll": -0.011993407271802425,
                        "pitch": -1.1137100458145142,
                        "yaw": 0.4725551903247833
                    }
                },
                "velocity": {
                    "x": -0.0040000067092478275,
                    "y": 0.00039175048004835844,
                    "z": 0.001293362700380385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003578650066629052,
                "transform": {
                    "location": {
                        "x": 174.75991821289062,
                        "y": 5586.8134765625,
                        "z": 365.6623229980469
                    },
                    "rotation": {
                        "roll": -0.006225585006177425,
                        "pitch": -0.7592437863349915,
                        "yaw": 0.2940918207168579
                    }
                },
                "velocity": {
                    "x": -0.00030511885415762663,
                    "y": 3.9039972762111574e-05,
                    "z": 0.00018288171850144863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.764435768127441,
                "transform": {
                    "location": {
                        "x": 214.64178466796875,
                        "y": 5556.4697265625,
                        "z": 365.6065673828125
                    },
                    "rotation": {
                        "roll": -0.007965067401528358,
                        "pitch": -0.41958531737327576,
                        "yaw": 88.51573944091797
                    }
                },
                "velocity": {
                    "x": 0.13539694249629974,
                    "y": 4.762359619140625,
                    "z": -0.03806255757808685
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.978240489959717,
                "transform": {
                    "location": {
                        "x": 215.15554809570312,
                        "y": 5573.79443359375,
                        "z": 365.4767761230469
                    },
                    "rotation": {
                        "roll": 0.01892673596739769,
                        "pitch": -0.21737758815288544,
                        "yaw": 88.32884979248047
                    }
                },
                "velocity": {
                    "x": 0.16161039471626282,
                    "y": 5.97600793838501,
                    "z": -0.023943308740854263
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.049430835992097855,
                "transform": {
                    "location": {
                        "x": 184.7039794921875,
                        "y": 5583.57421875,
                        "z": 365.5347900390625
                    },
                    "rotation": {
                        "roll": -0.0007324217585846782,
                        "pitch": -0.6126679182052612,
                        "yaw": -0.1260070651769638
                    }
                },
                "velocity": {
                    "x": 0.04942264407873154,
                    "y": -5.461719410959631e-05,
                    "z": -0.0008983421139419079
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006458779098466039,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.6294223666191101,
                        "yaw": -0.0174255333840847
                    }
                },
                "velocity": {
                    "x": 2.8530805138871074e-05,
                    "y": -1.679085471550934e-05,
                    "z": 0.000645028951112181
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002061202540062368,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.502836287021637e-05,
                    "y": 3.2723008303037204e-07,
                    "z": 0.00020459480583667755
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002832882746588439,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": 3.6975485272705555e-05,
                        "pitch": -0.6401662826538086,
                        "yaw": 179.9105987548828
                    }
                },
                "velocity": {
                    "x": -2.788200981740374e-05,
                    "y": 2.3696002244832925e-05,
                    "z": 0.00028091517742723227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.438813209533691,
                "transform": {
                    "location": {
                        "x": 214.4499969482422,
                        "y": 5614.1669921875,
                        "z": 365.17181396484375
                    },
                    "rotation": {
                        "roll": -0.2826842665672302,
                        "pitch": -0.40856823325157166,
                        "yaw": 95.05484008789062
                    }
                },
                "velocity": {
                    "x": -1.2568515539169312,
                    "y": 14.383636474609375,
                    "z": -0.10326498746871948
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4565000280272216e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.105752279632725e-06,
                    "y": 5.831383987242589e-06,
                    "z": 4.388582237879746e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0017902624094858766,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 5.7024601119337603e-05,
                    "y": 3.653830208349973e-05,
                    "z": 0.0017889809096232057
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00032145914155989885,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.630961924092844e-05,
                    "y": -1.9580635125748813e-05,
                    "z": 0.00032044746330939233
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017280491010751575,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -4.777684807777405e-07,
                    "y": -5.57383282284718e-06,
                    "z": -0.0001727143389871344
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00030038211843930185,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.772697942215018e-05,
                    "y": 1.2364992471702863e-05,
                    "z": 0.0002996035327669233
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9735532999038696,
                "transform": {
                    "location": {
                        "x": 216.93194580078125,
                        "y": 5617.6806640625,
                        "z": 365.15191650390625
                    },
                    "rotation": {
                        "roll": 0.006184250116348267,
                        "pitch": 0.5529311299324036,
                        "yaw": -83.82735443115234
                    }
                },
                "velocity": {
                    "x": 0.19604431092739105,
                    "y": -1.9637454748153687,
                    "z": 0.013518676161766052
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8794079422950745,
                "transform": {
                    "location": {
                        "x": 217.76858520507812,
                        "y": 5607.27734375,
                        "z": 365.2217102050781
                    },
                    "rotation": {
                        "roll": 0.004253033548593521,
                        "pitch": 0.47691109776496887,
                        "yaw": -86.3304443359375
                    }
                },
                "velocity": {
                    "x": 0.04559583216905594,
                    "y": -0.8782049417495728,
                    "z": 0.0059546371921896935
                },
                "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": -0.7132128477096558,
        "expert_target_speed": 0,
        "target_point": [
            10.37257840351594,
            -9.35064199571633
        ],
        "target_point_next": [
            10.992493828625463,
            -60.34686893000092
        ]
    },
    "480": {
        "acceleration": [
            -0.05658002570271492,
            -0.8571562170982361,
            0.002458954695612192
        ],
        "angular_velocity": [
            -0.22332775592803955,
            0.013734536245465279,
            1.1442487239837646
        ],
        "forward_vector": [
            -0.015422404743731022,
            -0.9998522996902466,
            0.0075861671939492226
        ],
        "right_vector": [
            0.9998810887336731,
            -0.01542292907834053,
            -1.0614282473397907e-05
        ],
        "location": [
            218.18264770507812,
            5590.36181640625,
            365.3406982421875
        ],
        "rotation": [
            0.0006081711035221815,
            0.43465954065322876,
            -90.88369750976562
        ],
        "velocity": [
            -0.00952940247952938,
            -0.2753221392631531,
            0.0017546081217005849
        ],
        "speed": 0.2754870049204788,
        "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": 16.11052131652832,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -4.468085171538405e-05,
                7.69603684602771e-06,
                0.0010615887586027384
            ],
            "speed_kmh": 0.00382520337322183,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001696219202131033,
                "transform": {
                    "location": {
                        "x": 174.5402374267578,
                        "y": 5583.5625,
                        "z": 365.6579895019531
                    },
                    "rotation": {
                        "roll": -0.011383055709302425,
                        "pitch": -0.9093303680419922,
                        "yaw": 0.4724375307559967
                    }
                },
                "velocity": {
                    "x": -0.0015051321825012565,
                    "y": 0.0001192222407553345,
                    "z": 0.0007729959324933589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00031312074861489236,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66253662109375
                    },
                    "rotation": {
                        "roll": -0.00604248046875,
                        "pitch": -0.7795704007148743,
                        "yaw": 0.2940686345100403
                    }
                },
                "velocity": {
                    "x": -2.6971547413268127e-05,
                    "y": 0.00011584536696318537,
                    "z": 0.00028964976081624627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.377532482147217,
                "transform": {
                    "location": {
                        "x": 214.6796875,
                        "y": 5557.77490234375,
                        "z": 365.5965881347656
                    },
                    "rotation": {
                        "roll": -0.001373294391669333,
                        "pitch": -0.3543638586997986,
                        "yaw": 88.41481018066406
                    }
                },
                "velocity": {
                    "x": 0.15589213371276855,
                    "y": 5.375113010406494,
                    "z": -0.04140318185091019
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.571771621704102,
                "transform": {
                    "location": {
                        "x": 215.2019500732422,
                        "y": 5575.5224609375,
                        "z": 365.46392822265625
                    },
                    "rotation": {
                        "roll": -0.0978393405675888,
                        "pitch": 0.07489302009344101,
                        "yaw": 88.3739242553711
                    }
                },
                "velocity": {
                    "x": 0.19377191364765167,
                    "y": 7.569031715393066,
                    "z": -0.06271319091320038
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5798401832580566,
                "transform": {
                    "location": {
                        "x": 184.7711639404297,
                        "y": 5583.57421875,
                        "z": 365.5332336425781
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -0.5088217258453369,
                        "yaw": -0.12396240234375
                    }
                },
                "velocity": {
                    "x": 0.5798109173774719,
                    "y": -0.0002275588340125978,
                    "z": -0.005823946092277765
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.6294223666191101,
                        "yaw": -0.0174255333840847
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021324398403521627,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.512412149575539e-05,
                    "y": -5.249947207630612e-05,
                    "z": 0.00020367398974485695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003030401130672544,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.00021362295956350863,
                        "pitch": -0.6401389837265015,
                        "yaw": 179.9105682373047
                    }
                },
                "velocity": {
                    "x": -3.732867480721325e-05,
                    "y": -2.633990879985504e-05,
                    "z": 0.00029957652441225946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.438767433166504,
                "transform": {
                    "location": {
                        "x": 214.09671020507812,
                        "y": 5617.7587890625,
                        "z": 365.1459655761719
                    },
                    "rotation": {
                        "roll": -0.32977294921875,
                        "pitch": -0.4151593744754791,
                        "yaw": 96.074951171875
                    }
                },
                "velocity": {
                    "x": -1.5195825099945068,
                    "y": 14.35820484161377,
                    "z": -0.1040361076593399
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004220438131596893,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 6.376150849973783e-06,
                    "y": 2.2368731151800603e-06,
                    "z": 0.00042198970913887024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001368515775538981,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 4.0199680370278656e-05,
                    "y": 6.91259847371839e-05,
                    "z": 0.001366177573800087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.20657519903034e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.3982877135276794e-05,
                    "y": 2.153981949959416e-05,
                    "z": 5.650374077958986e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00022180017549544573,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -4.156995601078961e-06,
                    "y": 5.906279056944186e-07,
                    "z": -0.00022176043421495706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010625565191730857,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.468085171538405e-05,
                    "y": 7.69603684602771e-06,
                    "z": 0.0010615887586027384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3317431211471558,
                "transform": {
                    "location": {
                        "x": 216.98287963867188,
                        "y": 5617.1640625,
                        "z": 365.15545654296875
                    },
                    "rotation": {
                        "roll": 0.0028069696854799986,
                        "pitch": 0.4014921486377716,
                        "yaw": -84.01607513427734
                    }
                },
                "velocity": {
                    "x": 0.12991848587989807,
                    "y": -1.3253543376922607,
                    "z": 0.009835824370384216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.37396588921546936,
                "transform": {
                    "location": {
                        "x": 217.77569580078125,
                        "y": 5607.14990234375,
                        "z": 365.2233581542969
                    },
                    "rotation": {
                        "roll": -0.002288819756358862,
                        "pitch": 0.27443015575408936,
                        "yaw": -86.35530853271484
                    }
                },
                "velocity": {
                    "x": 0.019611408933997154,
                    "y": -0.37343937158584595,
                    "z": 0.002988042775541544
                },
                "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": -0.7244769334793091,
        "expert_target_speed": 0,
        "target_point": [
            10.33322663838802,
            -9.341133580122893
        ],
        "target_point_next": [
            10.996936559088331,
            -60.336809336097595
        ]
    },
    "485": {
        "acceleration": [
            -0.06006117910146713,
            -0.7749193906784058,
            0.0074325548484921455
        ],
        "angular_velocity": [
            -0.007277939468622208,
            0.011263181455433369,
            -0.8862197995185852
        ],
        "forward_vector": [
            -0.016216091811656952,
            -0.9998393058776855,
            0.007646128069609404
        ],
        "right_vector": [
            0.9998685121536255,
            -0.016216695308685303,
            -1.707649789750576e-05
        ],
        "location": [
            218.1804656982422,
            5590.283203125,
            365.34124755859375
        ],
        "rotation": [
            0.0009784398134797812,
            0.4380951523780823,
            -90.92918395996094
        ],
        "velocity": [
            -0.012951670214533806,
            -0.334176629781723,
            0.0019832609687000513
        ],
        "speed": 0.334427519282754,
        "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": 16.06185531616211,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.0606646583255497e-06,
                -6.683895480819046e-05,
                0.0008313673315569758
            ],
            "speed_kmh": 0.0030025817445773527,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 215.10076904296875,
                        "y": 5509.27783203125,
                        "z": 366.1931457519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5155016779899597,
                        "yaw": 95.91863250732422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005592277739197016,
                "transform": {
                    "location": {
                        "x": 174.540771484375,
                        "y": 5583.5625,
                        "z": 365.65777587890625
                    },
                    "rotation": {
                        "roll": -0.01071166805922985,
                        "pitch": -0.8532135486602783,
                        "yaw": 0.4723796546459198
                    }
                },
                "velocity": {
                    "x": -0.0005554676172323525,
                    "y": -2.2965474272496067e-05,
                    "z": 6.053095421520993e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.657739580376074e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.6625671386719
                    },
                    "rotation": {
                        "roll": -0.006011962890625,
                        "pitch": -0.784447193145752,
                        "yaw": 0.294055700302124
                    }
                },
                "velocity": {
                    "x": 3.172963624820113e-05,
                    "y": -7.749728752060037e-07,
                    "z": -1.8180635379394516e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.316492557525635,
                "transform": {
                    "location": {
                        "x": 214.72108459472656,
                        "y": 5559.18310546875,
                        "z": 365.58551025390625
                    },
                    "rotation": {
                        "roll": -0.0010376028949394822,
                        "pitch": -0.3034652769565582,
                        "yaw": 88.3632583618164
                    }
                },
                "velocity": {
                    "x": 0.18524128198623657,
                    "y": 6.313576698303223,
                    "z": -0.050124458968639374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.77032470703125,
                "transform": {
                    "location": {
                        "x": 215.25350952148438,
                        "y": 5577.5703125,
                        "z": 365.44964599609375
                    },
                    "rotation": {
                        "roll": -0.09579465538263321,
                        "pitch": -0.1932055503129959,
                        "yaw": 88.59007263183594
                    }
                },
                "velocity": {
                    "x": 0.20720550417900085,
                    "y": 8.7676362991333,
                    "z": -0.0649353414773941
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3405799865722656,
                "transform": {
                    "location": {
                        "x": 185.0203094482422,
                        "y": 5583.5732421875,
                        "z": 365.5298767089844
                    },
                    "rotation": {
                        "roll": -0.0029907231219112873,
                        "pitch": -0.4099752604961395,
                        "yaw": -0.0450744666159153
                    }
                },
                "velocity": {
                    "x": 1.3405200242996216,
                    "y": -0.0020521138794720173,
                    "z": -0.012509708292782307
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007394898566417396,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.6294223666191101,
                        "yaw": -0.0174255333840847
                    }
                },
                "velocity": {
                    "x": 3.131978155579418e-05,
                    "y": 1.3019873222219758e-05,
                    "z": 0.0007387116202153265
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007084879907779396,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.8536542231449857e-05,
                    "y": 2.4095837943605147e-05,
                    "z": 0.00070750288432464
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00031582321389578283,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": 0.00011127990001114085,
                        "pitch": -0.6402209401130676,
                        "yaw": 179.9105682373047
                    }
                },
                "velocity": {
                    "x": -2.8192176614538766e-05,
                    "y": -8.257671652245335e-06,
                    "z": 0.00031445399508811533
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.438732147216797,
                "transform": {
                    "location": {
                        "x": 213.69140625,
                        "y": 5621.345703125,
                        "z": 365.1197509765625
                    },
                    "rotation": {
                        "roll": -0.3564453423023224,
                        "pitch": -0.4183354079723358,
                        "yaw": 96.94172668457031
                    }
                },
                "velocity": {
                    "x": -1.7628930807113647,
                    "y": 14.330333709716797,
                    "z": -0.10365058481693268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006091580726206303,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 1.5084948245203122e-05,
                    "y": 2.5047091185115278e-05,
                    "z": 0.0006084559136070311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001377273933030665,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": -1.1600292964430992e-05,
                    "y": -0.00013810662494506687,
                    "z": 0.0013702830765396357
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001376942527713254,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -2.493917963874992e-05,
                    "y": 9.346347724203952e-06,
                    "z": 0.000135094000142999
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.159374268259853e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -7.170513072196627e-06,
                    "y": -1.0654593097569887e-05,
                    "z": -4.9969767133006826e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000834050471894443,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.0606646583255497e-06,
                    "y": -6.683895480819046e-05,
                    "z": 0.0008313673315569758
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0022549054119735956,
                "transform": {
                    "location": {
                        "x": 216.98538208007812,
                        "y": 5617.138671875,
                        "z": 365.1554260253906
                    },
                    "rotation": {
                        "roll": -0.0012512179091572762,
                        "pitch": 0.2579147517681122,
                        "yaw": -84.02328491210938
                    }
                },
                "velocity": {
                    "x": 1.3396642316365615e-05,
                    "y": 0.0018134335987269878,
                    "z": 0.001340103568509221
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.24156202375888824,
                "transform": {
                    "location": {
                        "x": 217.78428649902344,
                        "y": 5607.00439453125,
                        "z": 365.224365234375
                    },
                    "rotation": {
                        "roll": -0.0015869294293224812,
                        "pitch": 0.2705915868282318,
                        "yaw": -86.47601318359375
                    }
                },
                "velocity": {
                    "x": 0.013470918871462345,
                    "y": -0.24117916822433472,
                    "z": 0.0018315791385248303
                },
                "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": -0.7410482168197632,
        "expert_target_speed": 0,
        "target_point": [
            10.262050248404496,
            -9.331965562204033
        ],
        "target_point_next": [
            10.966514629904276,
            -60.327094610011535
        ]
    },
    "490": {
        "acceleration": [
            0.05405973643064499,
            1.0824579000473022,
            -0.0063531845808029175
        ],
        "angular_velocity": [
            0.18738652765750885,
            0.007138267625123262,
            0.6014573574066162
        ],
        "forward_vector": [
            -0.0168292298913002,
            -0.9998307824134827,
            0.007429054006934166
        ],
        "right_vector": [
            0.9998583793640137,
            -0.01682971976697445,
            -3.5911796203436097e-06
        ],
        "location": [
            218.1774139404297,
            5590.201171875,
            365.3418273925781
        ],
        "rotation": [
            0.0002057651145150885,
            0.42565736174583435,
            -90.96431732177734
        ],
        "velocity": [
            -0.012057800777256489,
            -0.31977468729019165,
            0.001806020736694336
        ],
        "speed": 0.32000193935525434,
        "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": 16.011926651000977,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -4.711262590717524e-06,
                8.676974175614305e-06,
                8.524046279489994e-05
            ],
            "speed_kmh": 0.00030891739018865664,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.8914031982422,
                        "y": 5511.5224609375,
                        "z": 366.0124816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.05975501984357834,
                "transform": {
                    "location": {
                        "x": 174.5480499267578,
                        "y": 5583.5625,
                        "z": 365.6575622558594
                    },
                    "rotation": {
                        "roll": -0.009826661087572575,
                        "pitch": -0.8063037991523743,
                        "yaw": 0.48518866300582886
                    }
                },
                "velocity": {
                    "x": 0.059733517467975616,
                    "y": 0.00046466090134344995,
                    "z": -0.0015341758262366056
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016344008326996118,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.004669997608289e-05,
                    "y": 2.1137500880286098e-05,
                    "z": -0.00015925784828141332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.831295967102051,
                "transform": {
                    "location": {
                        "x": 214.77273559570312,
                        "y": 5560.92822265625,
                        "z": 365.5717468261719
                    },
                    "rotation": {
                        "roll": -0.00024413022038061172,
                        "pitch": -0.34103816747665405,
                        "yaw": 88.3426284790039
                    }
                },
                "velocity": {
                    "x": 0.20231887698173523,
                    "y": 6.828084468841553,
                    "z": -0.05417156219482422
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.873384475708008,
                "transform": {
                    "location": {
                        "x": 215.3094482421875,
                        "y": 5579.9326171875,
                        "z": 365.4300842285156
                    },
                    "rotation": {
                        "roll": -0.0699157565832138,
                        "pitch": -0.31600552797317505,
                        "yaw": 88.68749237060547
                    }
                },
                "velocity": {
                    "x": 0.2233887016773224,
                    "y": 9.8704195022583,
                    "z": -0.09295563399791718
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006716479081660509,
                "transform": {
                    "location": {
                        "x": 185.3016357421875,
                        "y": 5583.57470703125,
                        "z": 365.5300598144531
                    },
                    "rotation": {
                        "roll": 0.003941146656870842,
                        "pitch": -0.7642571330070496,
                        "yaw": -0.2016906589269638
                    }
                },
                "velocity": {
                    "x": 0.006670219823718071,
                    "y": 0.0007370184757746756,
                    "z": 0.0002757938054855913
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3694018889509607e-05,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.6294223666191101,
                        "yaw": -0.0174255333840847
                    }
                },
                "velocity": {
                    "x": 1.295447327720467e-05,
                    "y": 4.246283879183466e-06,
                    "z": 1.2949324172950583e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003508343070279807,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.742767355812248e-05,
                    "y": -5.15782357979333e-06,
                    "z": 0.00034972248249687254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.807159949559718e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91055297851562
                    }
                },
                "velocity": {
                    "x": -3.345742879901081e-05,
                    "y": -1.2489427717810031e-05,
                    "z": -9.133813000516966e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.438385963439941,
                "transform": {
                    "location": {
                        "x": 213.2321014404297,
                        "y": 5624.92529296875,
                        "z": 365.0933837890625
                    },
                    "rotation": {
                        "roll": -0.32708740234375,
                        "pitch": -0.42565736174583435,
                        "yaw": 97.69971466064453
                    }
                },
                "velocity": {
                    "x": -1.9785592555999756,
                    "y": 14.30177116394043,
                    "z": -0.10772893577814102
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005264580249786377,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.135519247938646e-06,
                    "y": -2.2394647203327622e-06,
                    "z": 0.0005264370120130479
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0017181335715577006,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 4.204900687909685e-05,
                    "y": 6.967173248995095e-05,
                    "z": 0.0017162052681669593
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00047740121954120696,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -2.4468748961226083e-05,
                    "y": 2.0924240743624978e-05,
                    "z": 0.0004763143660966307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003203436790499836,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": 6.854496859887149e-06,
                    "y": -2.6097744921571575e-05,
                    "z": -0.000319205253617838
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.581038855481893e-05,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.711262590717524e-06,
                    "y": 8.676974175614305e-06,
                    "z": 8.524046279489994e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010124924592673779,
                "transform": {
                    "location": {
                        "x": 216.98545837402344,
                        "y": 5617.13720703125,
                        "z": 365.15557861328125
                    },
                    "rotation": {
                        "roll": 0.0008260965696536005,
                        "pitch": 0.37005963921546936,
                        "yaw": -84.02324676513672
                    }
                },
                "velocity": {
                    "x": -0.00010621655383147299,
                    "y": 0.00025323210866190493,
                    "z": 0.0009745422285050154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.13025151193141937,
                "transform": {
                    "location": {
                        "x": 217.79124450683594,
                        "y": 5606.88427734375,
                        "z": 365.2252197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2781935930252075,
                        "yaw": -86.47877502441406
                    }
                },
                "velocity": {
                    "x": 0.0068049198016524315,
                    "y": -0.13007238507270813,
                    "z": 0.0005688285455107689
                },
                "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": -0.7580819725990295,
        "expert_target_speed": 0,
        "target_point": [
            10.185730928552916,
            -9.323966169319835
        ],
        "target_point_next": [
            10.92163624370078,
            -60.31865118682415
        ]
    },
    "495": {
        "acceleration": [
            -0.06739848852157593,
            -1.093984842300415,
            0.011525154113769531
        ],
        "angular_velocity": [
            -0.21173623204231262,
            0.0739656612277031,
            -0.9314692616462708
        ],
        "forward_vector": [
            -0.01761382631957531,
            -0.9998161792755127,
            0.007569359615445137
        ],
        "right_vector": [
            0.9998448491096497,
            -0.017614368349313736,
            -4.871747933066217e-06
        ],
        "location": [
            218.17413330078125,
            5590.10986328125,
            365.3424377441406
        ],
        "rotation": [
            0.00027913859230466187,
            0.4336965084075928,
            -91.00927734375
        ],
        "velocity": [
            -0.017112504690885544,
            -0.42325103282928467,
            0.002332925796508789
        ],
        "speed": 0.42359683026180894,
        "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": 15.956573486328125,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                7.82255028752843e-06,
                -0.0001409185933880508,
                0.00032911429298110306
            ],
            "speed_kmh": 0.0012891592465226905,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.576171875,
                        "y": 5515.25732421875,
                        "z": 365.9541015625
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8561450242996216,
                "transform": {
                    "location": {
                        "x": 174.67288208007812,
                        "y": 5583.56298828125,
                        "z": 365.655029296875
                    },
                    "rotation": {
                        "roll": -0.004302978049963713,
                        "pitch": -0.6121829748153687,
                        "yaw": 0.4414956569671631
                    }
                },
                "velocity": {
                    "x": 0.8560642600059509,
                    "y": 0.002873906632885337,
                    "z": -0.011400832794606686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.541853847214952e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.3168026018538512e-05,
                    "y": -1.976893690880388e-05,
                    "z": -6.899556319694966e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.770947217941284,
                "transform": {
                    "location": {
                        "x": 214.81695556640625,
                        "y": 5562.39501953125,
                        "z": 365.5598449707031
                    },
                    "rotation": {
                        "roll": 0.0006561251939274371,
                        "pitch": -0.8959636688232422,
                        "yaw": 88.47221374511719
                    }
                },
                "velocity": {
                    "x": 0.11997921019792557,
                    "y": 3.76889705657959,
                    "z": -0.03260200843214989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.795964241027832,
                "transform": {
                    "location": {
                        "x": 215.35874938964844,
                        "y": 5582.4951171875,
                        "z": 365.40618896484375
                    },
                    "rotation": {
                        "roll": -0.0469970777630806,
                        "pitch": -0.3220229148864746,
                        "yaw": 89.00267028808594
                    }
                },
                "velocity": {
                    "x": 0.17107918858528137,
                    "y": 10.794180870056152,
                    "z": -0.09608481079339981
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002625166205689311,
                "transform": {
                    "location": {
                        "x": 185.3015594482422,
                        "y": 5583.57470703125,
                        "z": 365.53033447265625
                    },
                    "rotation": {
                        "roll": 0.004025305155664682,
                        "pitch": -0.7947402596473694,
                        "yaw": -0.201751708984375
                    }
                },
                "velocity": {
                    "x": -0.002595472615212202,
                    "y": -0.00026261041057296097,
                    "z": 0.00029335118597373366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005963290459476411,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -0.6337937116622925,
                        "yaw": -0.01754760555922985
                    }
                },
                "velocity": {
                    "x": 3.6644858482759446e-05,
                    "y": -1.3661915545526426e-05,
                    "z": 0.0005950452177785337
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.096596527844667e-05,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.2637694200966507e-05,
                    "y": 1.7187109051519656e-06,
                    "z": 6.723651313222945e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.10992581944447e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400501728057861,
                        "yaw": 179.91046142578125
                    }
                },
                "velocity": {
                    "x": -2.521783062547911e-05,
                    "y": -1.377576268168923e-06,
                    "z": 1.8147376977140084e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.440011024475098,
                "transform": {
                    "location": {
                        "x": 212.71437072753906,
                        "y": 5628.498046875,
                        "z": 365.06646728515625
                    },
                    "rotation": {
                        "roll": -0.3093261122703552,
                        "pitch": -0.4302404224872589,
                        "yaw": 98.66617584228516
                    }
                },
                "velocity": {
                    "x": -2.162191390991211,
                    "y": 14.276811599731445,
                    "z": -0.10735085606575012
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000616819248534739,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.9860944929823745e-06,
                    "y": -2.6449726647115313e-05,
                    "z": 0.0006162228528410196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007814201526343822,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.2481994777917862
                    }
                },
                "velocity": {
                    "x": 9.250882612832356e-06,
                    "y": 4.232612809573766e-06,
                    "z": 0.0007813539123162627
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.081314834067598e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.861847886175383e-05,
                    "y": -1.1568832633201964e-05,
                    "z": 6.733510235790163e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.576062489533797e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.4213900612958241e-05,
                    "y": -1.4240069504012354e-05,
                    "z": -7.304011523956433e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003580997872631997,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 7.82255028752843e-06,
                    "y": -0.0001409185933880508,
                    "z": 0.00032911429298110306
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015109091764315963,
                "transform": {
                    "location": {
                        "x": 216.98553466796875,
                        "y": 5617.13720703125,
                        "z": 365.1556091308594
                    },
                    "rotation": {
                        "roll": 0.0008327162940986454,
                        "pitch": 0.399101585149765,
                        "yaw": -84.0232162475586
                    }
                },
                "velocity": {
                    "x": 0.00032442304654978216,
                    "y": 0.0001839220494730398,
                    "z": 0.0014641615562140942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.010606254450976849,
                "transform": {
                    "location": {
                        "x": 217.798828125,
                        "y": 5606.75048828125,
                        "z": 365.2257385253906
                    },
                    "rotation": {
                        "roll": 0.0021266366820782423,
                        "pitch": 0.37986093759536743,
                        "yaw": -86.517333984375
                    }
                },
                "velocity": {
                    "x": -0.00015883352898526937,
                    "y": -0.010588055476546288,
                    "z": 0.00060041289543733
                },
                "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": -0.7762629389762878,
        "expert_target_speed": 0,
        "target_point": [
            10.101671503060148,
            -9.314321329005042
        ],
        "target_point_next": [
            10.877479408529897,
            -60.308414896409026
        ]
    },
    "500": {
        "acceleration": [
            0.06161633878946304,
            1.1654281616210938,
            0.0007827766239643097
        ],
        "angular_velocity": [
            0.238967627286911,
            -0.05500190705060959,
            0.28025758266448975
        ],
        "forward_vector": [
            -0.01822834461927414,
            -0.9998047351837158,
            0.007625862490385771
        ],
        "right_vector": [
            0.9998338222503662,
            -0.018228737637400627,
            1.810909998312127e-05
        ],
        "location": [
            218.17030334472656,
            5590.00341796875,
            365.3431701660156
        ],
        "rotation": [
            -0.0010376052232459188,
            0.4369339942932129,
            -91.04449462890625
        ],
        "velocity": [
            -0.01644052192568779,
            -0.4266928732395172,
            0.002628440735861659
        ],
        "speed": 0.4270094833075534,
        "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": 15.892468452453613,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                3.328163074911572e-05,
                8.833875472191721e-05,
                5.599412907031365e-05
            ],
            "speed_kmh": 0.0003951275939217773,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.33218383789062,
                        "y": 5518.98291015625,
                        "z": 365.9202575683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5799247026443481,
                "transform": {
                    "location": {
                        "x": 174.98858642578125,
                        "y": 5583.56494140625,
                        "z": 365.6502990722656
                    },
                    "rotation": {
                        "roll": -0.004486083984375,
                        "pitch": -0.5126944780349731,
                        "yaw": 0.3876437246799469
                    }
                },
                "velocity": {
                    "x": 1.5797511339187622,
                    "y": 0.007300662342458963,
                    "z": -0.0222528874874115
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005179940490052104,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.5369525246787816e-05,
                    "y": -9.339395887764113e-07,
                    "z": -0.0005173715762794018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.386638641357422,
                "transform": {
                    "location": {
                        "x": 214.8456268310547,
                        "y": 5563.35693359375,
                        "z": 365.55230712890625
                    },
                    "rotation": {
                        "roll": -0.0032348542008548975,
                        "pitch": -0.5447075366973877,
                        "yaw": 88.4188003540039
                    }
                },
                "velocity": {
                    "x": 0.1286466121673584,
                    "y": 4.38462495803833,
                    "z": -0.03338908031582832
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.784364700317383,
                "transform": {
                    "location": {
                        "x": 215.40084838867188,
                        "y": 5585.32666015625,
                        "z": 365.3826599121094
                    },
                    "rotation": {
                        "roll": -0.0292968712747097,
                        "pitch": -0.1824275106191635,
                        "yaw": 89.29080963134766
                    }
                },
                "velocity": {
                    "x": 0.12770242989063263,
                    "y": 11.783343315124512,
                    "z": -0.0881311371922493
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010639356914907694,
                "transform": {
                    "location": {
                        "x": 185.30381774902344,
                        "y": 5583.57470703125,
                        "z": 365.5284423828125
                    },
                    "rotation": {
                        "roll": -0.00015258777420967817,
                        "pitch": -0.5612161159515381,
                        "yaw": -0.2017516940832138
                    }
                },
                "velocity": {
                    "x": -0.000832633872050792,
                    "y": -3.807305620284751e-05,
                    "z": 0.0006612339639104903
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000894128461368382,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -0.6337937116622925,
                        "yaw": -0.01754760555922985
                    }
                },
                "velocity": {
                    "x": 4.2807085264939815e-05,
                    "y": -2.9714832635363564e-05,
                    "z": 0.0008926087175495923
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007684002048335969,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.1767913494841196e-05,
                    "y": 1.6688441917267482e-07,
                    "z": 0.0007680918206460774
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00022146366245578974,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.6402209401130676,
                        "yaw": 179.91043090820312
                    }
                },
                "velocity": {
                    "x": -2.698749267437961e-05,
                    "y": -6.595809281861875e-06,
                    "z": 0.0002197141875512898
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7726119040162303e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.263853836368071e-06,
                    "y": 1.8996942685589602e-08,
                    "z": 1.692650948825758e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012591035338118672,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.22033506631851196,
                        "yaw": -0.2484741359949112
                    }
                },
                "velocity": {
                    "x": 2.360347571084276e-05,
                    "y": 6.106380897108465e-05,
                    "z": 0.0012574003776535392
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002746169629972428,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -8.626058843219653e-06,
                    "y": 1.9020866602659225e-05,
                    "z": 0.0002738216135185212
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00024502177257090807,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -2.2400915895559592e-06,
                    "y": 1.8183918655267917e-05,
                    "z": -0.0002443358243908733
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010975766781484708,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 3.328163074911572e-05,
                    "y": 8.833875472191721e-05,
                    "z": 5.599412907031365e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.47613251209259033,
                "transform": {
                    "location": {
                        "x": 216.9901580810547,
                        "y": 5617.087890625,
                        "z": 365.1561584472656
                    },
                    "rotation": {
                        "roll": 0.0024653517175465822,
                        "pitch": 0.46269065141677856,
                        "yaw": -84.02953338623047
                    }
                },
                "velocity": {
                    "x": 0.04579806327819824,
                    "y": -0.4739185571670532,
                    "z": 0.0024335288908332586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6466665267944336,
                "transform": {
                    "location": {
                        "x": 217.80335998535156,
                        "y": 5606.671875,
                        "z": 365.2261657714844
                    },
                    "rotation": {
                        "roll": 0.0030748394783586264,
                        "pitch": 0.44803306460380554,
                        "yaw": -86.55296325683594
                    }
                },
                "velocity": {
                    "x": 0.036107249557971954,
                    "y": -0.6456474661827087,
                    "z": 0.003634166670963168
                },
                "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": -0.7985293865203857,
        "expert_target_speed": 10.0,
        "target_point": [
            10.000901573343262,
            -9.306216977482814
        ],
        "target_point_next": [
            10.808076813536468,
            -60.29982368262735
        ]
    },
    "505": {
        "acceleration": [
            -0.03436187282204628,
            -0.6669586896896362,
            0.011544797569513321
        ],
        "angular_velocity": [
            -0.0709255039691925,
            -0.01555362343788147,
            -0.9930433630943298
        ],
        "forward_vector": [
            -0.019559474661946297,
            -0.999783456325531,
            0.007104217540472746
        ],
        "right_vector": [
            0.999808669090271,
            -0.01955968141555786,
            4.047853508382104e-05
        ],
        "location": [
            218.16671752929688,
            5589.8984375,
            365.3440246582031
        ],
        "rotation": [
            -0.002319307764992118,
            0.4070450961589813,
            -91.12077331542969
        ],
        "velocity": [
            -0.017300084233283997,
            -0.41188517212867737,
            0.002180414041504264
        ],
        "speed": 0.4122483328455664,
        "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": 15.82954216003418,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.865088961494621e-05,
                1.0335719707654789e-05,
                0.0008982553845271468
            ],
            "speed_kmh": 0.0032346303877383614,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.65921688079834,
                "transform": {
                    "location": {
                        "x": 214.1640625,
                        "y": 5522.38916015625,
                        "z": 365.8878479003906
                    },
                    "rotation": {
                        "roll": 0.007010897155851126,
                        "pitch": -0.5490447282791138,
                        "yaw": 92.12425994873047
                    }
                },
                "velocity": {
                    "x": -0.547182023525238,
                    "y": 12.64670467376709,
                    "z": -0.13133449852466583
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.000557672930881381,
                "transform": {
                    "location": {
                        "x": 175.11483764648438,
                        "y": 5583.56494140625,
                        "z": 365.65081787109375
                    },
                    "rotation": {
                        "roll": -0.014068604446947575,
                        "pitch": -1.1114766597747803,
                        "yaw": 0.47005558013916016
                    }
                },
                "velocity": {
                    "x": -0.00028682738775387406,
                    "y": -4.483252632780932e-05,
                    "z": -0.00047615039511583745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.83105312823318e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 4.220947448629886e-05,
                    "y": 2.3634367607883178e-05,
                    "z": -7.388184894807637e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.255739688873291,
                "transform": {
                    "location": {
                        "x": 214.882568359375,
                        "y": 5564.61279296875,
                        "z": 365.54290771484375
                    },
                    "rotation": {
                        "roll": 0.0006364582222886384,
                        "pitch": -0.32125791907310486,
                        "yaw": 88.36910247802734
                    }
                },
                "velocity": {
                    "x": 0.15609011054039001,
                    "y": 5.2532639503479,
                    "z": -0.04064467176795006
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.669442176818848,
                "transform": {
                    "location": {
                        "x": 215.42788696289062,
                        "y": 5588.38818359375,
                        "z": 365.361083984375
                    },
                    "rotation": {
                        "roll": -0.0552978441119194,
                        "pitch": -0.17415615916252136,
                        "yaw": 89.68661499023438
                    }
                },
                "velocity": {
                    "x": 0.07033620774745941,
                    "y": 12.668962478637695,
                    "z": -0.08499234914779663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00043942738557234406,
                "transform": {
                    "location": {
                        "x": 185.30381774902344,
                        "y": 5583.57470703125,
                        "z": 365.5284423828125
                    },
                    "rotation": {
                        "roll": -9.155266161542386e-05,
                        "pitch": -0.5623499155044556,
                        "yaw": -0.2017822116613388
                    }
                },
                "velocity": {
                    "x": 0.00034289038740098476,
                    "y": -2.0338869944680482e-05,
                    "z": 0.00027406009030528367
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012464566389098763,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -0.6337937116622925,
                        "yaw": -0.01754760555922985
                    }
                },
                "velocity": {
                    "x": 3.988623575423844e-05,
                    "y": 1.01615910352848e-06,
                    "z": 0.001245817868039012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000389442197047174,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.251545058446936e-05,
                    "y": -5.831550879520364e-06,
                    "z": 0.0003880386066157371
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011691126564983279,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.00012207035615574569,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91043090820312
                    }
                },
                "velocity": {
                    "x": -2.7187688829144463e-05,
                    "y": -9.789364412426949e-06,
                    "z": 0.00011328389518894255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006346203736029565,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.150735432835063e-06,
                    "y": -1.676309693721123e-05,
                    "z": 0.0006343780551105738
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001532143447548151,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.22033506631851196,
                        "yaw": -0.2484741359949112
                    }
                },
                "velocity": {
                    "x": 2.080488957290072e-05,
                    "y": 1.6432826669188216e-05,
                    "z": 0.001531914109364152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021689693676307797,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -2.2951588107389398e-05,
                    "y": -9.13298390514683e-06,
                    "z": 0.00021548572112806141
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.46815897198394e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.6622636394458823e-05,
                    "y": -6.880628461658489e-06,
                    "z": -6.212932203197852e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008985084132291377,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.865088961494621e-05,
                    "y": 1.0335719707654789e-05,
                    "z": 0.0008982553845271468
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3575247526168823,
                "transform": {
                    "location": {
                        "x": 217.01234436035156,
                        "y": 5616.86181640625,
                        "z": 365.15771484375
                    },
                    "rotation": {
                        "roll": 0.002826299984008074,
                        "pitch": 0.5332465171813965,
                        "yaw": -84.06332397460938
                    }
                },
                "velocity": {
                    "x": 0.13284121453762054,
                    "y": -1.350974202156067,
                    "z": 0.009763726964592934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6852245330810547,
                "transform": {
                    "location": {
                        "x": 217.80897521972656,
                        "y": 5606.5693359375,
                        "z": 365.2268371582031
                    },
                    "rotation": {
                        "roll": 0.001323028584010899,
                        "pitch": 0.4440305829048157,
                        "yaw": -86.54925537109375
                    }
                },
                "velocity": {
                    "x": 0.04043177515268326,
                    "y": -0.6840205788612366,
                    "z": 0.003711957950145006
                },
                "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": -0.8183234930038452,
        "expert_target_speed": 10.0,
        "target_point": [
            9.908220808922225,
            -9.291395687535646
        ],
        "target_point_next": [
            10.783114392983784,
            -60.283885505977636
        ]
    },
    "510": {
        "acceleration": [
            0.05636969581246376,
            1.1661159992218018,
            -0.01635303720831871
        ],
        "angular_velocity": [
            0.2310677468776703,
            -0.031909164041280746,
            0.4079434871673584
        ],
        "forward_vector": [
            -0.020714718848466873,
            -0.9997608065605164,
            0.007016123738139868
        ],
        "right_vector": [
            0.9997854232788086,
            -0.02071475423872471,
            6.764264981029555e-05
        ],
        "location": [
            218.1630401611328,
            5589.8017578125,
            365.34466552734375
        ],
        "rotation": [
            -0.0038757340516895056,
            0.4019975960254669,
            -91.18698120117188
        ],
        "velocity": [
            -0.01448953989893198,
            -0.34739017486572266,
            0.001688632881268859
        ],
        "speed": 0.347692220735121,
        "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": 15.772284507751465,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                4.359002923592925e-05,
                1.5384495782200247e-05,
                0.0003907466307282448
            ],
            "speed_kmh": 0.0014164968577763213,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.558478355407715,
                "transform": {
                    "location": {
                        "x": 214.05413818359375,
                        "y": 5525.5400390625,
                        "z": 365.8572692871094
                    },
                    "rotation": {
                        "roll": 0.01661260798573494,
                        "pitch": -0.5088490843772888,
                        "yaw": 91.50212860107422
                    }
                },
                "velocity": {
                    "x": -0.29393619298934937,
                    "y": 12.554526329040527,
                    "z": -0.11335873603820801
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0018845907179638743,
                "transform": {
                    "location": {
                        "x": 175.1164093017578,
                        "y": 5583.56494140625,
                        "z": 365.650146484375
                    },
                    "rotation": {
                        "roll": -0.011566163040697575,
                        "pitch": -0.9456806182861328,
                        "yaw": 0.4699348211288452
                    }
                },
                "velocity": {
                    "x": -0.0018831382039934397,
                    "y": 6.924126500962302e-05,
                    "z": -2.6045736376545392e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.576127529144287,
                "transform": {
                    "location": {
                        "x": 214.91444396972656,
                        "y": 5565.6865234375,
                        "z": 365.5340270996094
                    },
                    "rotation": {
                        "roll": -0.0014648326905444264,
                        "pitch": -0.47643983364105225,
                        "yaw": 88.36981964111328
                    }
                },
                "velocity": {
                    "x": 0.13546830415725708,
                    "y": 4.573988437652588,
                    "z": -0.03493156656622887
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.599736213684082,
                "transform": {
                    "location": {
                        "x": 215.43663024902344,
                        "y": 5591.67529296875,
                        "z": 365.33880615234375
                    },
                    "rotation": {
                        "roll": -0.0782775804400444,
                        "pitch": -0.20409969985485077,
                        "yaw": 90.10108184814453
                    }
                },
                "velocity": {
                    "x": -0.03676098585128784,
                    "y": 13.599353790283203,
                    "z": -0.09503719210624695
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 185.3035888671875,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 7.564918632851914e-05,
                        "pitch": -0.5838854908943176,
                        "yaw": -0.2018127292394638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005015165661461651,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": -0.6338825225830078,
                        "yaw": -0.01763915829360485
                    }
                },
                "velocity": {
                    "x": 2.7799755116575398e-05,
                    "y": 1.0369252549935482e-06,
                    "z": 0.000500744441524148
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00045568717177957296,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.3476555725210346e-05,
                    "y": 1.3680033589480445e-05,
                    "z": 0.00045487633906304836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003530409303493798,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.00012207035615574569,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91043090820312
                    }
                },
                "velocity": {
                    "x": -2.8712824132526293e-05,
                    "y": -1.31727147163474e-05,
                    "z": 0.0003516247379593551
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003173853037878871,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 1.4717410522280261e-05,
                    "y": 4.382753468235023e-05,
                    "z": 0.0003139999753329903
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010974378092214465,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.24850468337535858
                    }
                },
                "velocity": {
                    "x": 2.3643000531592406e-05,
                    "y": 7.039638876449317e-05,
                    "z": 0.001094922423362732
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00013094680616632104,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -7.168650427047396e-06,
                    "y": 2.2127345800981857e-05,
                    "z": -0.00012886449985671788
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.499412873177789e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.005120566333062e-06,
                    "y": -2.4303863028762862e-05,
                    "z": 4.9322065024171025e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00039347136043943465,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 4.359002923592925e-05,
                    "y": 1.5384495782200247e-05,
                    "z": 0.0003907466307282448
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010111164301633835,
                "transform": {
                    "location": {
                        "x": 217.0204620361328,
                        "y": 5616.779296875,
                        "z": 365.1580810546875
                    },
                    "rotation": {
                        "roll": -0.000640859710983932,
                        "pitch": 0.30680525302886963,
                        "yaw": -84.00492858886719
                    }
                },
                "velocity": {
                    "x": 0.00010354258120059967,
                    "y": 0.0010051452554762363,
                    "z": 3.631145955296233e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.006203584372997284,
                "transform": {
                    "location": {
                        "x": 217.8124237060547,
                        "y": 5606.50634765625,
                        "z": 365.22747802734375
                    },
                    "rotation": {
                        "roll": 0.001863188692368567,
                        "pitch": 0.381233811378479,
                        "yaw": -86.5794906616211
                    }
                },
                "velocity": {
                    "x": 7.549680594820529e-05,
                    "y": -0.0061555770225822926,
                    "z": -0.0007665723678655922
                },
                "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": -0.8370010256767273,
        "expert_target_speed": 10.0,
        "target_point": [
            9.822231834998762,
            -9.278248940365442
        ],
        "target_point_next": [
            10.756137601532274,
            -60.26969211161308
        ]
    },
    "515": {
        "acceleration": [
            -0.08672131597995758,
            -0.9968727827072144,
            0.005114173982292414
        ],
        "angular_velocity": [
            -0.21593020856380463,
            0.03042757324874401,
            -0.9901114106178284
        ],
        "forward_vector": [
            -0.022192304953932762,
            -0.999729335308075,
            0.006985607091337442
        ],
        "right_vector": [
            0.9997537136077881,
            -0.02219264768064022,
            2.822838541760575e-05
        ],
        "location": [
            218.15945434570312,
            5589.7119140625,
            365.3453063964844
        ],
        "rotation": [
            -0.001617406727746129,
            0.40024906396865845,
            -91.27165985107422
        ],
        "velocity": [
            -0.01941814087331295,
            -0.3727562725543976,
            0.001713561941869557
        ],
        "speed": 0.3732617083543719,
        "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": 15.71955394744873,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                2.2493377400678582e-05,
                -7.655092485947534e-05,
                0.0006151102716103196
            ],
            "speed_kmh": 0.002232948115169876,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.62922191619873,
                "transform": {
                    "location": {
                        "x": 213.99530029296875,
                        "y": 5528.68798828125,
                        "z": 365.82958984375
                    },
                    "rotation": {
                        "roll": 0.013014956377446651,
                        "pitch": -0.4941983222961426,
                        "yaw": 90.55500793457031
                    }
                },
                "velocity": {
                    "x": -0.13048069179058075,
                    "y": 12.628087043762207,
                    "z": -0.10787708312273026
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007960388320498168,
                "transform": {
                    "location": {
                        "x": 175.1172637939453,
                        "y": 5583.56494140625,
                        "z": 365.6498107910156
                    },
                    "rotation": {
                        "roll": -0.01074218563735485,
                        "pitch": -0.8525031805038452,
                        "yaw": 0.46986252069473267
                    }
                },
                "velocity": {
                    "x": -0.0006732532056048512,
                    "y": 2.2744032321497798e-05,
                    "z": -0.0004241351271048188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006307193543761969,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.420112468826119e-05,
                    "y": -1.1397282833058853e-05,
                    "z": -0.0006301518296822906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.3732781410217285,
                "transform": {
                    "location": {
                        "x": 214.95132446289062,
                        "y": 5566.89794921875,
                        "z": 365.52459716796875
                    },
                    "rotation": {
                        "roll": 0.005134459584951401,
                        "pitch": -0.4863572418689728,
                        "yaw": 88.6498031616211
                    }
                },
                "velocity": {
                    "x": 0.14622439444065094,
                    "y": 4.3706889152526855,
                    "z": -0.03547089919447899
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.450457572937012,
                "transform": {
                    "location": {
                        "x": 215.4178009033203,
                        "y": 5595.1904296875,
                        "z": 365.31390380859375
                    },
                    "rotation": {
                        "roll": -0.08584592491388321,
                        "pitch": -0.20812951028347015,
                        "yaw": 90.63136291503906
                    }
                },
                "velocity": {
                    "x": -0.17919248342514038,
                    "y": 14.448976516723633,
                    "z": -0.1033877283334732
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.554550079978071e-05,
                "transform": {
                    "location": {
                        "x": 185.3035888671875,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00042994122486561537,
                        "pitch": -0.583612322807312,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": -5.7509541875333525e-06,
                    "y": -1.3569767361332197e-05,
                    "z": 5.355455505196005e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005650155362673104,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": -0.6337254047393799,
                        "yaw": -0.01763916015625
                    }
                },
                "velocity": {
                    "x": 4.3735130020650104e-05,
                    "y": -4.4912699195265304e-06,
                    "z": 0.0005633024265989661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00038597386446781456,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.3446007617167197e-05,
                    "y": 5.064415745437145e-06,
                    "z": 0.0003852277877740562
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001141315879067406,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.6401389837265015,
                        "yaw": 179.91036987304688
                    }
                },
                "velocity": {
                    "x": -2.539135493861977e-05,
                    "y": -3.125749935861677e-05,
                    "z": -0.00010679076513042673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004169551539234817,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 4.580486347549595e-06,
                    "y": 1.7869964494821033e-06,
                    "z": 0.0004169261665083468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013289081398397684,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.24850468337535858
                    }
                },
                "velocity": {
                    "x": 3.115931394859217e-05,
                    "y": -3.0045455332583515e-06,
                    "z": 0.0013285393361002207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00019755589892156422,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -7.097497473296244e-06,
                    "y": -1.6501106074429117e-05,
                    "z": 0.000196737571968697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.47981474280823e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.7199683497892693e-05,
                    "y": -1.401855843141675e-05,
                    "z": -3.8916896301088855e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006202633958309889,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 2.2493377400678582e-05,
                    "y": -7.655092485947534e-05,
                    "z": 0.0006151102716103196
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004060898791067302,
                "transform": {
                    "location": {
                        "x": 217.02053833007812,
                        "y": 5616.77880859375,
                        "z": 365.158203125
                    },
                    "rotation": {
                        "roll": 0.00015808508032932878,
                        "pitch": 0.38421177864074707,
                        "yaw": -84.00487518310547
                    }
                },
                "velocity": {
                    "x": 0.0002068471076199785,
                    "y": 0.0003331829502712935,
                    "z": 0.00010541534720687196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09731035679578781,
                "transform": {
                    "location": {
                        "x": 217.81585693359375,
                        "y": 5606.4423828125,
                        "z": 365.22802734375
                    },
                    "rotation": {
                        "roll": 0.001534912851639092,
                        "pitch": 0.34578514099121094,
                        "yaw": -86.57018280029297
                    }
                },
                "velocity": {
                    "x": 0.004881061613559723,
                    "y": -0.0971875935792923,
                    "z": -0.00023073195188771933
                },
                "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": -0.8644766211509705,
        "expert_target_speed": 10.0,
        "target_point": [
            9.746008461708564,
            -9.262156431726106
        ],
        "target_point_next": [
            10.755142602936342,
            -60.25216628613142
        ]
    },
    "520": {
        "acceleration": [
            0.11368431150913239,
            1.03493332862854,
            -0.024788666516542435
        ],
        "angular_velocity": [
            0.13873670995235443,
            -0.060115747153759,
            -0.2273712158203125
        ],
        "forward_vector": [
            -0.024617256596684456,
            -0.9996727705001831,
            0.00694483844563365
        ],
        "right_vector": [
            0.9996969103813171,
            -0.024618277326226234,
            -6.145796942291781e-05
        ],
        "location": [
            218.15382385253906,
            5589.6298828125,
            365.34588623046875
        ],
        "rotation": [
            0.0035213674418628216,
            0.3979131281375885,
            -91.41064453125
        ],
        "velocity": [
            -0.023695817217230797,
            -0.2933596670627594,
            0.0014163112500682473
        ],
        "speed": 0.2943151134630457,
        "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": 15.673566818237305,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -4.102924867765978e-05,
                -9.245881301467307e-06,
                0.00133899983484298
            ],
            "speed_kmh": 0.004822776709000529,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.61678409576416,
                "transform": {
                    "location": {
                        "x": 213.9871063232422,
                        "y": 5531.7822265625,
                        "z": 365.8033447265625
                    },
                    "rotation": {
                        "roll": 0.014505111612379551,
                        "pitch": -0.5056798458099365,
                        "yaw": 89.59017181396484
                    }
                },
                "velocity": {
                    "x": 0.07826748490333557,
                    "y": 11.616095542907715,
                    "z": -0.09940408170223236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004998384392820299,
                "transform": {
                    "location": {
                        "x": 175.11749267578125,
                        "y": 5583.56494140625,
                        "z": 365.64971923828125
                    },
                    "rotation": {
                        "roll": -0.008789063431322575,
                        "pitch": -0.8313227891921997,
                        "yaw": 0.4698217809200287
                    }
                },
                "velocity": {
                    "x": -0.00020572677021846175,
                    "y": -5.4546602768823504e-05,
                    "z": 0.0004522605740930885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011674667621264234,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.9509215892176144e-05,
                    "y": 8.088126378424931e-06,
                    "z": -0.0001126657662098296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.628391742706299,
                "transform": {
                    "location": {
                        "x": 214.98358154296875,
                        "y": 5568.00439453125,
                        "z": 365.5158386230469
                    },
                    "rotation": {
                        "roll": -0.007995612919330597,
                        "pitch": -0.44082722067832947,
                        "yaw": 88.62425994873047
                    }
                },
                "velocity": {
                    "x": 0.13019002974033356,
                    "y": 4.626418590545654,
                    "z": -0.03618597984313965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.70818042755127,
                "transform": {
                    "location": {
                        "x": 215.35577392578125,
                        "y": 5598.84912109375,
                        "z": 365.28863525390625
                    },
                    "rotation": {
                        "roll": -0.1251525729894638,
                        "pitch": -0.3223575949668884,
                        "yaw": 91.48346710205078
                    }
                },
                "velocity": {
                    "x": -0.35127878189086914,
                    "y": 14.703618049621582,
                    "z": -0.10387817025184631
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020408991258591413,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.1564661437878385e-05,
                    "y": 8.299214641738217e-06,
                    "z": 0.0002027776645263657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009894227841868997,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": -0.6337254047393799,
                        "yaw": -0.01763916015625
                    }
                },
                "velocity": {
                    "x": 2.9472783353412524e-05,
                    "y": 2.298793515365105e-05,
                    "z": 0.0009887164924293756
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.8758686312357895e-05,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.2882148186909035e-05,
                    "y": 6.975931796660007e-07,
                    "z": 1.7406400729669258e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.062933658133261e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.6401389837265015,
                        "yaw": 179.91036987304688
                    }
                },
                "velocity": {
                    "x": -2.907365524151828e-05,
                    "y": 1.964882585525629e-06,
                    "z": 2.8312624635873362e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2321422622771934e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": -3.7310458083084086e-06,
                    "y": 4.897774033452151e-06,
                    "z": -3.17295671266038e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.24850468337535858
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00030424894066527486,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.2262612472113688e-05,
                    "y": 2.3256211534317117e-06,
                    "z": -0.0003039928269572556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6148714571027085e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": 8.227303283092624e-07,
                    "y": 2.8759915949194692e-05,
                    "z": -2.1884237867197953e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013396601425483823,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.102924867765978e-05,
                    "y": -9.245881301467307e-06,
                    "z": 0.00133899983484298
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4970104694366455,
                "transform": {
                    "location": {
                        "x": 217.02381896972656,
                        "y": 5616.74365234375,
                        "z": 365.1585388183594
                    },
                    "rotation": {
                        "roll": 0.004499244038015604,
                        "pitch": 0.46859192848205566,
                        "yaw": -84.00411987304688
                    }
                },
                "velocity": {
                    "x": 0.04935455694794655,
                    "y": -0.4945460855960846,
                    "z": 0.002774477005004883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.2851264476776123,
                "transform": {
                    "location": {
                        "x": 217.81951904296875,
                        "y": 5606.37744140625,
                        "z": 365.2283630371094
                    },
                    "rotation": {
                        "roll": 0.0023081740364432335,
                        "pitch": 0.37900033593177795,
                        "yaw": -86.56890106201172
                    }
                },
                "velocity": {
                    "x": 0.01677197404205799,
                    "y": -0.28461992740631104,
                    "z": 0.002699632663279772
                },
                "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": -0.8765434622764587,
        "expert_target_speed": 10.0,
        "target_point": [
            9.686319334566729,
            -9.234860498406567
        ],
        "target_point_next": [
            10.819232605472308,
            -60.22227035797826
        ]
    },
    "525": {
        "acceleration": [
            -0.08380427956581116,
            -0.6266069412231445,
            0.017180249094963074
        ],
        "angular_velocity": [
            -0.038329824805259705,
            0.03192472830414772,
            -1.6628003120422363
        ],
        "forward_vector": [
            -0.027471154928207397,
            -0.9995982050895691,
            0.006981673184782267
        ],
        "right_vector": [
            0.9996225833892822,
            -0.02747136540710926,
            6.604519876418635e-05
        ],
        "location": [
            218.14764404296875,
            5589.5517578125,
            365.346435546875
        ],
        "rotation": [
            -0.0037842034362256527,
            0.4000236690044403,
            -91.57421875
        ],
        "velocity": [
            -0.02596479095518589,
            -0.30174770951271057,
            0.002355232136324048
        ],
        "speed": 0.3028627586308915,
        "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": 15.630692481994629,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -2.527870265112142e-06,
                1.8338696463615634e-05,
                -0.00013270524505060166
            ],
            "speed_kmh": 0.00048236480441759774,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.879140853881836,
                "transform": {
                    "location": {
                        "x": 214.01710510253906,
                        "y": 5534.52490234375,
                        "z": 365.7800598144531
                    },
                    "rotation": {
                        "roll": 0.011171205900609493,
                        "pitch": -0.5037195682525635,
                        "yaw": 88.98612976074219
                    }
                },
                "velocity": {
                    "x": 0.20444564521312714,
                    "y": 10.87682819366455,
                    "z": -0.09229698777198792
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 175.11764526367188,
                        "y": 5583.56494140625,
                        "z": 365.6496887207031
                    },
                    "rotation": {
                        "roll": -0.008575438521802425,
                        "pitch": -0.8175667524337769,
                        "yaw": 0.4697827398777008
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00035844609374180436,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.3037790015223436e-05,
                    "y": 2.081860111502465e-05,
                    "z": -0.0003570986445993185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.0589752197265625,
                "transform": {
                    "location": {
                        "x": 215.0146026611328,
                        "y": 5569.0830078125,
                        "z": 365.5074157714844
                    },
                    "rotation": {
                        "roll": 0.003077559405937791,
                        "pitch": -0.5314365029335022,
                        "yaw": 88.46807098388672
                    }
                },
                "velocity": {
                    "x": 0.11847824603319168,
                    "y": 4.057116508483887,
                    "z": -0.03242355212569237
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.58878231048584,
                "transform": {
                    "location": {
                        "x": 215.23928833007812,
                        "y": 5602.50927734375,
                        "z": 365.2637023925781
                    },
                    "rotation": {
                        "roll": -0.16702266037464142,
                        "pitch": -0.4439964294433594,
                        "yaw": 92.5275650024414
                    }
                },
                "velocity": {
                    "x": -0.5981665849685669,
                    "y": 14.57614803314209,
                    "z": -0.10326458513736725
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004316750564612448,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 1.823872298700735e-05,
                    "y": 1.8866667232941836e-05,
                    "z": 0.00043087670928798616
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003133556747343391,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.6340327858924866,
                        "yaw": -0.0177001915872097
                    }
                },
                "velocity": {
                    "x": 2.997696356032975e-05,
                    "y": 7.371194442384876e-06,
                    "z": 0.0003118314198218286
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005863445112481713,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.819584890152328e-05,
                    "y": -7.719961104157846e-06,
                    "z": 0.0005850481684319675
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002182757598347962,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.6401389837265015,
                        "yaw": 179.91036987304688
                    }
                },
                "velocity": {
                    "x": -2.5484860088909045e-05,
                    "y": 6.517315341625363e-06,
                    "z": 0.00021668491535820067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.037679951172322e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 5.6804528867360204e-06,
                    "y": 1.5569338529530796e-06,
                    "z": 1.9506982425809838e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008975806413218379,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": 5.07830991409719e-05,
                    "y": -2.720964766922407e-05,
                    "z": 0.0008957296959124506
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00024743558606132865,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.6427859009127133e-05,
                    "y": -8.782169061305467e-06,
                    "z": 0.00024673339794389904
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00031192722963169217,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.2921727829962038e-06,
                    "y": -4.2398560253786854e-06,
                    "z": -0.000311895739287138
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013399022282101214,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -2.527870265112142e-06,
                    "y": 1.8338696463615634e-05,
                    "z": -0.00013270524505060166
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0020580568816512823,
                "transform": {
                    "location": {
                        "x": 217.03781127929688,
                        "y": 5616.6015625,
                        "z": 365.15936279296875
                    },
                    "rotation": {
                        "roll": -0.0001525748084532097,
                        "pitch": 0.347403883934021,
                        "yaw": -83.98106384277344
                    }
                },
                "velocity": {
                    "x": 0.0002806969569064677,
                    "y": -0.001854405039921403,
                    "z": 0.0008473420748487115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43954581022262573,
                "transform": {
                    "location": {
                        "x": 217.8231201171875,
                        "y": 5606.31494140625,
                        "z": 365.2286376953125
                    },
                    "rotation": {
                        "roll": 0.004049594979733229,
                        "pitch": 0.44107308983802795,
                        "yaw": -86.53359985351562
                    }
                },
                "velocity": {
                    "x": 0.024631449952721596,
                    "y": -0.4388478398323059,
                    "z": 0.002528877230361104
                },
                "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": -0.8844361305236816,
        "expert_target_speed": 10.0,
        "target_point": [
            9.634387227322907,
            -9.203129617639082
        ],
        "target_point_next": [
            10.912904390717385,
            -60.18709622019217
        ]
    },
    "530": {
        "acceleration": [
            -0.00947851687669754,
            -0.5080705881118774,
            0.002381708472967148
        ],
        "angular_velocity": [
            -0.1824365258216858,
            0.043595362454652786,
            -0.1720222532749176
        ],
        "forward_vector": [
            -0.03031216748058796,
            -0.9995148181915283,
            0.00716155581176281
        ],
        "right_vector": [
            0.9995404481887817,
            -0.030312154442071915,
            0.00011025205458281562
        ],
        "location": [
            218.14195251464844,
            5589.47216796875,
            365.34698486328125
        ],
        "rotation": [
            -0.006317139137536287,
            0.4103304147720337,
            -91.73706817626953
        ],
        "velocity": [
            -0.02763676643371582,
            -0.3366376757621765,
            0.002081155776977539
        ],
        "speed": 0.3377702112405297,
        "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": 15.586819648742676,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.66677673405502e-05,
                -0.00011746431118808687,
                0.0004811124817933887
            ],
            "speed_kmh": 0.0017838895400637672,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 215.05226135253906,
                        "y": 5509.857421875,
                        "z": 366.05474853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.916784286499023,
                "transform": {
                    "location": {
                        "x": 214.07562255859375,
                        "y": 5537.28173828125,
                        "z": 365.7568359375
                    },
                    "rotation": {
                        "roll": 0.00496996333822608,
                        "pitch": -0.47909677028656006,
                        "yaw": 88.55152893066406
                    }
                },
                "velocity": {
                    "x": 0.27514806389808655,
                    "y": 10.912938117980957,
                    "z": -0.0908510759472847
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00011650152009679005,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008178710006177425,
                        "pitch": -0.8105180263519287,
                        "yaw": 0.4697188138961792
                    }
                },
                "velocity": {
                    "x": 2.09401550819166e-05,
                    "y": 3.171075150021352e-05,
                    "z": -0.00011012965842382982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005608007777482271,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.209725036867894e-05,
                    "y": 6.618527550017461e-06,
                    "z": -0.0005598423886112869
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.194854259490967,
                "transform": {
                    "location": {
                        "x": 215.04452514648438,
                        "y": 5570.11376953125,
                        "z": 365.49957275390625
                    },
                    "rotation": {
                        "roll": 0.011356896720826626,
                        "pitch": -0.4478418231010437,
                        "yaw": 88.4029541015625
                    }
                },
                "velocity": {
                    "x": 0.11670685559511185,
                    "y": 4.193117141723633,
                    "z": -0.030818838626146317
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.531006813049316,
                "transform": {
                    "location": {
                        "x": 215.06756591796875,
                        "y": 5606.14306640625,
                        "z": 365.23779296875
                    },
                    "rotation": {
                        "roll": -0.1754150092601776,
                        "pitch": -0.4400622248649597,
                        "yaw": 93.44220733642578
                    }
                },
                "velocity": {
                    "x": -0.8410452604293823,
                    "y": 14.506278991699219,
                    "z": -0.10333362221717834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015904770407360047,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 1.5218108273984399e-05,
                    "y": 1.2031025107717142e-05,
                    "z": 0.00015786018047947437
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009245855617336929,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.6336639523506165,
                        "yaw": -0.0177307091653347
                    }
                },
                "velocity": {
                    "x": 4.166066719335504e-05,
                    "y": -2.090726229653228e-05,
                    "z": 0.0009234098251909018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00018411387281958014,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.0237714124959894e-05,
                    "y": 2.018986015173141e-05,
                    "z": -0.0001818810706026852
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034459418384358287,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.6996955057256855e-05,
                    "y": -2.4648532416904345e-05,
                    "z": -0.0003426496114116162
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021631312847603112,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 3.0010751288500614e-06,
                    "y": -1.0989291695295833e-05,
                    "z": 0.0002160129661206156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009362335549667478,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": 4.5210905227577314e-05,
                    "y": -6.0484879213618115e-05,
                    "z": 0.0009331831824965775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000445035781012848,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -4.207789970678277e-06,
                    "y": 8.793459528533276e-06,
                    "z": 0.00044492899905890226
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023200426949188113,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -6.077345460653305e-06,
                    "y": -1.862234239524696e-05,
                    "z": -0.00023117581440601498
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004955248441547155,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.66677673405502e-05,
                    "y": -0.00011746431118808687,
                    "z": 0.0004811124817933887
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3795824348926544,
                "transform": {
                    "location": {
                        "x": 217.03968811035156,
                        "y": 5616.58251953125,
                        "z": 365.1596374511719
                    },
                    "rotation": {
                        "roll": 0.0025456605944782495,
                        "pitch": 0.41873839497566223,
                        "yaw": -84.00157928466797
                    }
                },
                "velocity": {
                    "x": 0.03764859959483147,
                    "y": -0.37770378589630127,
                    "z": 0.0022910309489816427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3974691331386566,
                "transform": {
                    "location": {
                        "x": 217.8271026611328,
                        "y": 5606.24365234375,
                        "z": 365.2291564941406
                    },
                    "rotation": {
                        "roll": 0.004218251444399357,
                        "pitch": 0.4250631332397461,
                        "yaw": -86.5224380493164
                    }
                },
                "velocity": {
                    "x": 0.021997924894094467,
                    "y": -0.3968494236469269,
                    "z": 0.002889614086598158
                },
                "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": -0.8961390852928162,
        "expert_target_speed": 10.0,
        "target_point": [
            9.580786069286418,
            -9.172426525861129
        ],
        "target_point_next": [
            11.004240349495555,
            -60.15255240428062
        ]
    },
    "535": {
        "acceleration": [
            0.05466170608997345,
            0.4260939359664917,
            -0.004604337736964226
        ],
        "angular_velocity": [
            -0.03356942906975746,
            0.015946513041853905,
            -0.3832857310771942
        ],
        "forward_vector": [
            -0.032518792897462845,
            -0.9994459748268127,
            0.007088363170623779
        ],
        "right_vector": [
            0.999471127986908,
            -0.03251855447888374,
            0.00014860091323498636
        ],
        "location": [
            218.13671875,
            5589.3984375,
            365.3475341796875
        ],
        "rotation": [
            -0.00851441826671362,
            0.406136691570282,
            -91.86356353759766
        ],
        "velocity": [
            -0.023513752967119217,
            -0.29530856013298035,
            0.0021851349156349897
        ],
        "speed": 0.29624321471792864,
        "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": 15.546399116516113,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -4.0543953218730167e-05,
                5.261244223220274e-05,
                0.0006866788025945425
            ],
            "speed_kmh": 0.00248358168430631,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.7556915283203,
                        "y": 5512.9287109375,
                        "z": 365.9768371582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.105438232421875,
                "transform": {
                    "location": {
                        "x": 214.14498901367188,
                        "y": 5539.90380859375,
                        "z": 365.7351379394531
                    },
                    "rotation": {
                        "roll": 0.00407955888658762,
                        "pitch": -0.48885709047317505,
                        "yaw": 88.36546325683594
                    }
                },
                "velocity": {
                    "x": 0.28702500462532043,
                    "y": 10.1010103225708,
                    "z": -0.08423115313053131
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00017397991905454546,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008178710006177425,
                        "pitch": -0.8105180263519287,
                        "yaw": 0.4697188138961792
                    }
                },
                "velocity": {
                    "x": 2.4272649170598015e-05,
                    "y": 6.864410534035414e-05,
                    "z": -0.0001580121461302042
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007209288887679577,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 1.757338577590417e-05,
                    "y": -8.161575237863872e-07,
                    "z": -0.0007207142189145088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.289949893951416,
                "transform": {
                    "location": {
                        "x": 215.07742309570312,
                        "y": 5571.29052734375,
                        "z": 365.49114990234375
                    },
                    "rotation": {
                        "roll": 0.015157988294959068,
                        "pitch": -0.2497253566980362,
                        "yaw": 88.39849853515625
                    }
                },
                "velocity": {
                    "x": 0.14831683039665222,
                    "y": 5.28773832321167,
                    "z": -0.037343550473451614
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.513897895812988,
                "transform": {
                    "location": {
                        "x": 214.83914184570312,
                        "y": 5609.765625,
                        "z": 365.2117004394531
                    },
                    "rotation": {
                        "roll": -0.1511230170726776,
                        "pitch": -0.40799450874328613,
                        "yaw": 94.2740478515625
                    }
                },
                "velocity": {
                    "x": -1.0595110654830933,
                    "y": 14.474803924560547,
                    "z": -0.10358678549528122
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004981635720469058,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.525165655242745e-05,
                    "y": 7.650496627320535e-07,
                    "z": 0.0004975225892849267
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00035715356352739036,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0177612267434597
                    }
                },
                "velocity": {
                    "x": 2.6320665710954927e-05,
                    "y": 2.3317044906434603e-05,
                    "z": 0.00035541836405172944
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006172029534354806,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.1035167921800166e-05,
                    "y": 1.8397398889646865e-05,
                    "z": 0.0006161475903354585
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003058427828364074,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.7271211365587078e-05,
                    "y": 1.5850686395424418e-05,
                    "z": 0.0003042118332814425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020969119213987142,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": -8.05694617156405e-06,
                    "y": -8.403939318668563e-06,
                    "z": -0.00020936776127200574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015850301133468747,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": 2.935524935310241e-05,
                    "y": -9.253482130588964e-05,
                    "z": 0.0015820544213056564
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002933742362074554,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.0028853466792498e-05,
                    "y": -2.2371057639247738e-05,
                    "z": 0.0002923480933532119
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.55088195647113e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": 5.998443612043047e-06,
                    "y": 3.114345236099325e-05,
                    "z": 1.59681003424339e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006898837746120989,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.0543953218730167e-05,
                    "y": 5.261244223220274e-05,
                    "z": 0.0006866788025945425
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.138701319694519,
                "transform": {
                    "location": {
                        "x": 217.0575714111328,
                        "y": 5616.3935546875,
                        "z": 365.1611328125
                    },
                    "rotation": {
                        "roll": 0.006921898107975721,
                        "pitch": 0.5112464427947998,
                        "yaw": -84.06914520263672
                    }
                },
                "velocity": {
                    "x": 0.1099419966340065,
                    "y": -1.133362889289856,
                    "z": 0.006491117179393768
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.16721053421497345,
                "transform": {
                    "location": {
                        "x": 217.83648681640625,
                        "y": 5606.072265625,
                        "z": 365.2301330566406
                    },
                    "rotation": {
                        "roll": 0.00655661104246974,
                        "pitch": 0.49352896213531494,
                        "yaw": -86.544921875
                    }
                },
                "velocity": {
                    "x": 0.0073149437084794044,
                    "y": -0.16705018281936646,
                    "z": 0.00029889107099734247
                },
                "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": -0.9186083078384399,
        "expert_target_speed": 0,
        "target_point": [
            9.527142786473858,
            -9.148427927528973
        ],
        "target_point_next": [
            11.063096571793091,
            -60.12528839025957
        ]
    },
    "540": {
        "acceleration": [
            -0.09191583842039108,
            -0.7006460428237915,
            -0.00116023700684309
        ],
        "angular_velocity": [
            -0.2408071607351303,
            0.18579931557178497,
            0.20008915662765503
        ],
        "forward_vector": [
            -0.03455299511551857,
            -0.9993782639503479,
            0.007008614018559456
        ],
        "right_vector": [
            0.9994028806686401,
            -0.034552816301584244,
            0.00014700298197567463
        ],
        "location": [
            218.13124084472656,
            5589.330078125,
            365.3480529785156
        ],
        "rotation": [
            -0.008422857150435448,
            0.401567280292511,
            -91.98018646240234
        ],
        "velocity": [
            -0.026377681642770767,
            -0.29111358523368835,
            0.002008676528930664
        ],
        "speed": 0.2923061778280769,
        "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": 15.5096435546875,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -7.925331374281086e-06,
                8.371548005925433e-07,
                1.4578145965060685e-05
            ],
            "speed_kmh": 5.9811380417851165e-05,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.53030395507812,
                        "y": 5515.92041015625,
                        "z": 365.9486389160156
                    },
                    "rotation": {
                        "roll": -2.668150322904239e-08,
                        "pitch": -0.5148254632949829,
                        "yaw": 93.52619171142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.581775665283203,
                "transform": {
                    "location": {
                        "x": 214.21585083007812,
                        "y": 5542.3525390625,
                        "z": 365.7149658203125
                    },
                    "rotation": {
                        "roll": 0.0025665094144642353,
                        "pitch": -0.48742958903312683,
                        "yaw": 88.29802703857422
                    }
                },
                "velocity": {
                    "x": 0.28335732221603394,
                    "y": 9.57724666595459,
                    "z": -0.0805308073759079
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.466315633384511e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009033202193677425,
                        "pitch": -0.8085030913352966,
                        "yaw": 0.46965470910072327
                    }
                },
                "velocity": {
                    "x": -2.0794570900761755e-06,
                    "y": 1.0431238024466438e-06,
                    "z": -5.4613625252386555e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028877361910417676,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 4.938021083944477e-05,
                    "y": -1.0254640983475838e-05,
                    "z": -0.00028433543047867715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.6455979347229,
                "transform": {
                    "location": {
                        "x": 215.1151580810547,
                        "y": 5572.64111328125,
                        "z": 365.4809265136719
                    },
                    "rotation": {
                        "roll": 0.050792764872312546,
                        "pitch": -0.30383411049842834,
                        "yaw": 88.39067840576172
                    }
                },
                "velocity": {
                    "x": 0.15538793802261353,
                    "y": 5.643309593200684,
                    "z": -0.041065819561481476
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.54012680053711,
                "transform": {
                    "location": {
                        "x": 214.5525665283203,
                        "y": 5613.38623046875,
                        "z": 365.18585205078125
                    },
                    "rotation": {
                        "roll": -0.1535950005054474,
                        "pitch": -0.40236642956733704,
                        "yaw": 95.18738555908203
                    }
                },
                "velocity": {
                    "x": -1.2670389413833618,
                    "y": 14.484444618225098,
                    "z": -0.10374048352241516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002498293179087341,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 1.675568455539178e-05,
                    "y": -1.2455418072931934e-05,
                    "z": 0.00024895541719160974
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011190580698894337,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.6340327858924866,
                        "yaw": -0.01779174618422985
                    }
                },
                "velocity": {
                    "x": 2.386152664257679e-05,
                    "y": 8.504662929453843e-08,
                    "z": 0.00010933219891740009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005619053263217211,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.4409760701237246e-05,
                    "y": 3.3756600714696106e-06,
                    "z": 0.0005608405917882919
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012977616279385984,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.545490860939026e-05,
                    "y": 8.992965376819484e-06,
                    "z": 0.0001269370986847207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004692301736213267,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 9.075719390239101e-06,
                    "y": -1.4871077837597113e-05,
                    "z": 0.0004689066263381392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010009697871282697,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": 4.760402953252196e-05,
                    "y": -6.0040008975192904e-05,
                    "z": 0.0009980328613892198
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.6108390708686784e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -8.172467460099142e-06,
                    "y": 3.376781751285307e-05,
                    "z": 4.405788058647886e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003412682272028178,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.0352302524552215e-05,
                    "y": 1.4847090824332554e-05,
                    "z": -0.00034078789758495986
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.661427268118132e-05,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -7.925331374281086e-06,
                    "y": 8.371548005925433e-07,
                    "z": 1.4578145965060685e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009178881300613284,
                "transform": {
                    "location": {
                        "x": 217.0730438232422,
                        "y": 5616.2333984375,
                        "z": 365.161865234375
                    },
                    "rotation": {
                        "roll": 0.0023972380440682173,
                        "pitch": 0.27964159846305847,
                        "yaw": -84.21068572998047
                    }
                },
                "velocity": {
                    "x": -3.4192250950582093e-06,
                    "y": 0.0005152691155672073,
                    "z": 0.0007596082286909223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.21284343302249908,
                "transform": {
                    "location": {
                        "x": 217.84405517578125,
                        "y": 5605.939453125,
                        "z": 365.2311096191406
                    },
                    "rotation": {
                        "roll": 0.003269018605351448,
                        "pitch": 0.46221935749053955,
                        "yaw": -86.60760498046875
                    }
                },
                "velocity": {
                    "x": 0.013980735093355179,
                    "y": -0.21238069236278534,
                    "z": 0.0011423873947933316
                },
                "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": -0.9254487752914429,
        "expert_target_speed": 0,
        "target_point": [
            9.477246606869313,
            -9.1258937241547
        ],
        "target_point_next": [
            11.117015156459097,
            -60.099520392963726
        ]
    },
    "545": {
        "acceleration": [
            0.048515163362026215,
            -0.20465075969696045,
            0.0070993416011333466
        ],
        "angular_velocity": [
            -0.09672284871339798,
            -0.05901017785072327,
            -0.9755146503448486
        ],
        "forward_vector": [
            -0.036687999963760376,
            -0.9993006587028503,
            0.007214244920760393
        ],
        "right_vector": [
            0.999326765537262,
            -0.036687999963760376,
            0.0001326219498878345
        ],
        "location": [
            218.1258544921875,
            5589.259765625,
            365.3484802246094
        ],
        "rotation": [
            -0.007598876021802425,
            0.41334936022758484,
            -92.10259246826172
        ],
        "velocity": [
            -0.02452678605914116,
            -0.29461392760276794,
            0.0019964217208325863
        ],
        "speed": 0.2956330995878504,
        "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": 15.471867561340332,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -3.492940231808461e-05,
                2.3003527530818246e-05,
                0.0010970538714900613
            ],
            "speed_kmh": 0.003952262951019242,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.3348388671875,
                        "y": 5518.85107421875,
                        "z": 365.9214782714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.506192147731781,
                        "yaw": 92.1627197265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.199326515197754,
                "transform": {
                    "location": {
                        "x": 214.28561401367188,
                        "y": 5544.69970703125,
                        "z": 365.6954345703125
                    },
                    "rotation": {
                        "roll": 0.0013921810314059258,
                        "pitch": -0.4846155643463135,
                        "yaw": 88.28089904785156
                    }
                },
                "velocity": {
                    "x": 0.2753326892852783,
                    "y": 9.19489574432373,
                    "z": -0.07543866336345673
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.478738679201342e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009094237349927425,
                        "pitch": -0.8074922561645508,
                        "yaw": 0.4695812463760376
                    }
                },
                "velocity": {
                    "x": 1.473978136345977e-05,
                    "y": -1.1911771252925973e-05,
                    "z": 1.5976957001839764e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010775549890240654,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.9520988391595893e-05,
                    "y": -3.8678474084008485e-05,
                    "z": -9.614433656679466e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.33861780166626,
                "transform": {
                    "location": {
                        "x": 215.15835571289062,
                        "y": 5574.197265625,
                        "z": 365.47265625
                    },
                    "rotation": {
                        "roll": -0.017211908474564552,
                        "pitch": 0.018660075962543488,
                        "yaw": 88.41685485839844
                    }
                },
                "velocity": {
                    "x": 0.20995087921619415,
                    "y": 7.335512638092041,
                    "z": -0.038531817495822906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.529791831970215,
                "transform": {
                    "location": {
                        "x": 214.2108612060547,
                        "y": 5617.00341796875,
                        "z": 365.159912109375
                    },
                    "rotation": {
                        "roll": -0.1687927097082138,
                        "pitch": -0.4113754332065582,
                        "yaw": 96.08700561523438
                    }
                },
                "velocity": {
                    "x": -1.5071860551834106,
                    "y": 14.451037406921387,
                    "z": -0.10372798889875412
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.851258801063523e-05,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.0682364265667275e-05,
                    "y": -1.8228951148557826e-07,
                    "z": 9.631685679778457e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007654866785742342,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.6340327858924866,
                        "yaw": -0.01779174618422985
                    }
                },
                "velocity": {
                    "x": 3.9886755985207856e-05,
                    "y": 4.801338945981115e-06,
                    "z": 0.0007644317229278386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002570883953012526,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.6202573280897923e-05,
                    "y": -2.1192729036556557e-05,
                    "z": -0.00025487004313617945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.967122393078171e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.7836262233904563e-05,
                    "y": 2.6150737539865077e-06,
                    "z": 2.8144446332589723e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.571543341735378e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 2.7478299671201967e-06,
                    "y": -4.600477438998496e-07,
                    "z": 9.567487722961232e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010092894081026316,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": -2.8463266062317416e-05,
                    "y": 0.00010180522804148495,
                    "z": 0.0010037383763119578
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00032617597025819123,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.604258955012483e-06,
                    "y": -1.0049001502920873e-05,
                    "z": -0.00032601720886304975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.028404408833012e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -1.026086465572007e-05,
                    "y": -9.897930794977583e-06,
                    "z": -7.900805940153077e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010978507343679667,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -3.492940231808461e-05,
                    "y": 2.3003527530818246e-05,
                    "z": 0.0010970538714900613
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1211150735616684,
                "transform": {
                    "location": {
                        "x": 217.07334899902344,
                        "y": 5616.2294921875,
                        "z": 365.16204833984375
                    },
                    "rotation": {
                        "roll": 0.0022575079929083586,
                        "pitch": 0.38315993547439575,
                        "yaw": -84.22954559326172
                    }
                },
                "velocity": {
                    "x": 0.009777786210179329,
                    "y": -0.12070571631193161,
                    "z": 0.001840190845541656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.017004122957587242,
                "transform": {
                    "location": {
                        "x": 217.85069274902344,
                        "y": 5605.8212890625,
                        "z": 365.2322692871094
                    },
                    "rotation": {
                        "roll": 0.0030652654822915792,
                        "pitch": 0.39134249091148376,
                        "yaw": -86.70189666748047
                    }
                },
                "velocity": {
                    "x": 0.001258414937183261,
                    "y": -0.016956595703959465,
                    "z": 0.00017450869199819863
                },
                "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": -0.9347280859947205,
        "expert_target_speed": 0,
        "target_point": [
            9.426231155568123,
            -9.102851269977625
        ],
        "target_point_next": [
            11.174741468837146,
            -60.07286371211593
        ]
    },
    "550": {
        "acceleration": [
            -0.03078743815422058,
            -0.43478667736053467,
            0.013866612687706947
        ],
        "angular_velocity": [
            0.07646823674440384,
            -0.07355158030986786,
            -0.37984877824783325
        ],
        "forward_vector": [
            -0.039160680025815964,
            -0.9992062449455261,
            0.007302815094590187
        ],
        "right_vector": [
            0.9992329478263855,
            -0.03916063532233238,
            0.00014913338236510754
        ],
        "location": [
            218.11936950683594,
            5589.1796875,
            365.3490295410156
        ],
        "rotation": [
            -0.008544941432774067,
            0.41842418909072876,
            -92.24437713623047
        ],
        "velocity": [
            -0.027752289548516273,
            -0.30588486790657043,
            0.0018698310013860464
        ],
        "speed": 0.3071412411080686,
        "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": 15.429404258728027,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.1923983038286678e-05,
                -1.557327777845785e-05,
                0.0006851617945358157
            ],
            "speed_kmh": 0.002467592927094676,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.1653971672058105,
                "transform": {
                    "location": {
                        "x": 214.23765563964844,
                        "y": 5520.89990234375,
                        "z": 365.9033508300781
                    },
                    "rotation": {
                        "roll": -0.022125262767076492,
                        "pitch": -0.31457117199897766,
                        "yaw": 92.09801483154297
                    }
                },
                "velocity": {
                    "x": -0.2742704451084137,
                    "y": 7.159958362579346,
                    "z": -0.05182455852627754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.670690536499023,
                "transform": {
                    "location": {
                        "x": 214.35256958007812,
                        "y": 5546.9296875,
                        "z": 365.67730712890625
                    },
                    "rotation": {
                        "roll": -0.000579865591134876,
                        "pitch": -0.4748210608959198,
                        "yaw": 88.27423858642578
                    }
                },
                "velocity": {
                    "x": 0.2612572908401489,
                    "y": 8.666460990905762,
                    "z": -0.0712239146232605
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002551486250013113,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008789061568677425,
                        "pitch": -0.8074922561645508,
                        "yaw": 0.4695717990398407
                    }
                },
                "velocity": {
                    "x": 4.493102460401133e-05,
                    "y": -4.315440310165286e-05,
                    "z": -0.0002474261855240911
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002383480459684506,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.175703593820799e-05,
                    "y": -2.5633227778598666e-05,
                    "z": -0.0002359647478442639
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.239739418029785,
                "transform": {
                    "location": {
                        "x": 215.21109008789062,
                        "y": 5576.15234375,
                        "z": 365.4579162597656
                    },
                    "rotation": {
                        "roll": -0.0655212327837944,
                        "pitch": -0.12786796689033508,
                        "yaw": 88.48450469970703
                    }
                },
                "velocity": {
                    "x": 0.21017587184906006,
                    "y": 8.236830711364746,
                    "z": -0.06118262559175491
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.542511940002441,
                "transform": {
                    "location": {
                        "x": 213.8145294189453,
                        "y": 5620.6162109375,
                        "z": 365.1336975097656
                    },
                    "rotation": {
                        "roll": -0.16101069748401642,
                        "pitch": -0.41951704025268555,
                        "yaw": 96.93124389648438
                    }
                },
                "velocity": {
                    "x": -1.7370675802230835,
                    "y": 14.438014030456543,
                    "z": -0.10492079704999924
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003050750237889588,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.878688246710226e-05,
                    "y": -1.5801482732058503e-05,
                    "z": 0.0003033024840988219
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003702154499478638,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.6339439749717712,
                        "yaw": -0.0178222618997097
                    }
                },
                "velocity": {
                    "x": 3.0742285161977634e-05,
                    "y": 1.217037333844928e-05,
                    "z": 0.00036873604403808713
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005043906276114285,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.0059069104027003e-05,
                    "y": 8.550638312954106e-07,
                    "z": 0.0005034934147261083
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00057976198149845,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -4.095844997209497e-05,
                    "y": -1.7486050637671724e-05,
                    "z": 0.0005780489882454276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011124142911285162,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": 4.638694008463062e-06,
                    "y": 0.00013841163308825344,
                    "z": 0.0011037600925192237
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002078739635180682,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.7588958144187927e-05,
                    "y": 2.3623932065675035e-05,
                    "z": 0.00020577687246259302
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00037205612170509994,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -8.159894605341833e-06,
                    "y": -1.1205510190848145e-06,
                    "z": -0.000371964939404279
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006854424718767405,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.1923983038286678e-05,
                    "y": -1.557327777845785e-05,
                    "z": 0.0006851617945358157
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.766901969909668,
                "transform": {
                    "location": {
                        "x": 217.0828094482422,
                        "y": 5616.13232421875,
                        "z": 365.1629333496094
                    },
                    "rotation": {
                        "roll": 0.002758240792900324,
                        "pitch": 0.48374810814857483,
                        "yaw": -84.24552917480469
                    }
                },
                "velocity": {
                    "x": 0.07445638626813889,
                    "y": -0.7632580399513245,
                    "z": 0.005658845882862806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7054983973503113,
                "transform": {
                    "location": {
                        "x": 217.85585021972656,
                        "y": 5605.7255859375,
                        "z": 365.23272705078125
                    },
                    "rotation": {
                        "roll": 0.0050620813854038715,
                        "pitch": 0.4616934359073639,
                        "yaw": -86.708251953125
                    }
                },
                "velocity": {
                    "x": 0.03851043060421944,
                    "y": -0.7044357657432556,
                    "z": 0.003902912139892578
                },
                "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": -0.9450548887252808,
        "expert_target_speed": 0,
        "target_point": [
            9.368480854053914,
            -9.076128965845491
        ],
        "target_point_next": [
            11.243247010075049,
            -60.04165367154807
        ]
    },
    "555": {
        "acceleration": [
            0.028676539659500122,
            -0.2236473560333252,
            0.005266189109534025
        ],
        "angular_velocity": [
            -0.09327813982963562,
            0.01453807670623064,
            -1.3274426460266113
        ],
        "forward_vector": [
            -0.041545771062374115,
            -0.9991112351417542,
            0.007114349864423275
        ],
        "right_vector": [
            0.9991366267204285,
            -0.04154524207115173,
            0.0002226347423857078
        ],
        "location": [
            218.11390686035156,
            5589.107421875,
            365.34954833984375
        ],
        "rotation": [
            -0.012756355106830597,
            0.407625675201416,
            -92.38114166259766
        ],
        "velocity": [
            -0.02319164015352726,
            -0.29653623700141907,
            0.0018750953022390604
        ],
        "speed": 0.29744174560403,
        "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": 15.391030311584473,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                1.2225359569129068e-05,
                7.385756907751784e-05,
                0.0007561431848444045
            ],
            "speed_kmh": 0.0027354242139448924,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.2399492263793945,
                "transform": {
                    "location": {
                        "x": 214.17437744140625,
                        "y": 5522.69873046875,
                        "z": 365.8902587890625
                    },
                    "rotation": {
                        "roll": -0.00851440615952015,
                        "pitch": -0.4669800102710724,
                        "yaw": 91.97982025146484
                    }
                },
                "velocity": {
                    "x": -0.24290011823177338,
                    "y": 7.235609531402588,
                    "z": -0.06178394332528114
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.279452323913574,
                "transform": {
                    "location": {
                        "x": 214.41616821289062,
                        "y": 5549.04345703125,
                        "z": 365.6601867675781
                    },
                    "rotation": {
                        "roll": -0.001861555385403335,
                        "pitch": -0.4676220417022705,
                        "yaw": 88.27205657958984
                    }
                },
                "velocity": {
                    "x": 0.2496180236339569,
                    "y": 8.275423049926758,
                    "z": -0.06621824204921722
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.059593943064101e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008789061568677425,
                        "pitch": -0.8074922561645508,
                        "yaw": 0.4695717990398407
                    }
                },
                "velocity": {
                    "x": 1.4829486644885037e-05,
                    "y": -3.0755029001738876e-05,
                    "z": 5.0060785724781454e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027982128085568547,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.731235847226344e-05,
                    "y": 1.6837671864777803e-05,
                    "z": -0.0002768108097370714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.923399925231934,
                "transform": {
                    "location": {
                        "x": 215.2646026611328,
                        "y": 5578.326171875,
                        "z": 365.4427185058594
                    },
                    "rotation": {
                        "roll": -0.1238098219037056,
                        "pitch": -0.39464831352233887,
                        "yaw": 88.57722473144531
                    }
                },
                "velocity": {
                    "x": 0.2190750241279602,
                    "y": 8.920337677001953,
                    "z": -0.08148535341024399
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.528918266296387,
                "transform": {
                    "location": {
                        "x": 213.36203002929688,
                        "y": 5624.22119140625,
                        "z": 365.107177734375
                    },
                    "rotation": {
                        "roll": -0.1437988132238388,
                        "pitch": -0.4246191680431366,
                        "yaw": 97.80696105957031
                    }
                },
                "velocity": {
                    "x": -1.9215984344482422,
                    "y": 14.400882720947266,
                    "z": -0.10733689367771149
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019255078223068267,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.208925798186101e-05,
                    "y": -1.114146130021254e-06,
                    "z": 0.00019127631094306707
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014385782415047288,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 4.092417657375336e-05,
                    "y": 1.7397262126905844e-05,
                    "z": 0.001437890692614019
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00018052836821880192,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -1.9643232008093037e-05,
                    "y": -2.6530222385190427e-05,
                    "z": -0.00017748460231814533
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012952799443155527,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.7551128368941136e-05,
                    "y": -8.103652362478897e-07,
                    "z": 0.00012656136823352426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00035377434687688947,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.045074462890625
                    }
                },
                "velocity": {
                    "x": 8.348505616595503e-06,
                    "y": 2.900406252592802e-05,
                    "z": 0.0003524845524225384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001015586662106216,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": 1.132134366343962e-05,
                    "y": -4.215630906401202e-05,
                    "z": 0.001014648238196969
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000149563915329054,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.4923214621376246e-05,
                    "y": 1.0699067388486583e-05,
                    "z": 0.00014843244571238756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002993757661897689,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -6.576124633284053e-06,
                    "y": -6.528139238071162e-06,
                    "z": -0.00029923231340944767
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007598400698043406,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 1.2225359569129068e-05,
                    "y": 7.385756907751784e-05,
                    "z": 0.0007561431848444045
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.24468195438385,
                "transform": {
                    "location": {
                        "x": 217.1110076904297,
                        "y": 5615.83349609375,
                        "z": 365.1650390625
                    },
                    "rotation": {
                        "roll": 0.006695143412798643,
                        "pitch": 0.49626103043556213,
                        "yaw": -84.42239379882812
                    }
                },
                "velocity": {
                    "x": 0.11163653433322906,
                    "y": -1.239635944366455,
                    "z": 0.00855780579149723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.44685208797454834,
                "transform": {
                    "location": {
                        "x": 217.8603057861328,
                        "y": 5605.63916015625,
                        "z": 365.2336120605469
                    },
                    "rotation": {
                        "roll": 0.0014902390539646149,
                        "pitch": 0.36720460653305054,
                        "yaw": -86.6756591796875
                    }
                },
                "velocity": {
                    "x": 0.024737173691391945,
                    "y": -0.44615569710731506,
                    "z": 0.00315483077429235
                },
                "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": -0.9661496877670288,
        "expert_target_speed": 0,
        "target_point": [
            9.317676156583993,
            -9.051297917507663
        ],
        "target_point_next": [
            11.314021049082735,
            -60.01220512820728
        ]
    },
    "560": {
        "acceleration": [
            0.05262456834316254,
            0.7100802659988403,
            -0.01083278562873602
        ],
        "angular_velocity": [
            -0.016445409506559372,
            0.02273363061249256,
            -0.3393183946609497
        ],
        "forward_vector": [
            -0.04326585307717323,
            -0.9990367293357849,
            0.007324510719627142
        ],
        "right_vector": [
            0.9990636110305786,
            -0.043265730142593384,
            0.00017576383834239095
        ],
        "location": [
            218.10797119140625,
            5589.03564453125,
            365.35003662109375
        ],
        "rotation": [
            -0.010070796124637127,
            0.4196673035621643,
            -92.47978973388672
        ],
        "velocity": [
            -0.027296416461467743,
            -0.3116793632507324,
            0.0021338367369025946
        ],
        "speed": 0.3128723698699198,
        "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": 15.353570938110352,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -5.128569682710804e-06,
                -1.1369139429007191e-05,
                0.0004217550449538976
            ],
            "speed_kmh": 0.0015189819263017068,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.167848587036133,
                "transform": {
                    "location": {
                        "x": 214.12350463867188,
                        "y": 5524.49853515625,
                        "z": 365.8749084472656
                    },
                    "rotation": {
                        "roll": -0.024291973561048508,
                        "pitch": -0.4965752065181732,
                        "yaw": 91.59455108642578
                    }
                },
                "velocity": {
                    "x": -0.12946613132953644,
                    "y": 7.16641902923584,
                    "z": -0.06105145439505577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.845822334289551,
                "transform": {
                    "location": {
                        "x": 214.47694396972656,
                        "y": 5551.056640625,
                        "z": 365.6441650390625
                    },
                    "rotation": {
                        "roll": -0.002075192518532276,
                        "pitch": -0.46777230501174927,
                        "yaw": 88.27179718017578
                    }
                },
                "velocity": {
                    "x": 0.23661881685256958,
                    "y": 7.8419952392578125,
                    "z": -0.06365235894918442
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00016671839694026858,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008789061568677425,
                        "pitch": -0.8074922561645508,
                        "yaw": 0.4695717990398407
                    }
                },
                "velocity": {
                    "x": 7.067918431857834e-06,
                    "y": -7.258151163114235e-05,
                    "z": 0.00014992328942753375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006266969139687717,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.0780413251486607e-05,
                    "y": -5.828972007293487e-06,
                    "z": -0.0006263251998461783
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.706439018249512,
                "transform": {
                    "location": {
                        "x": 215.3212432861328,
                        "y": 5580.8232421875,
                        "z": 365.4194030761719
                    },
                    "rotation": {
                        "roll": -0.0751037448644638,
                        "pitch": -0.23320996761322021,
                        "yaw": 88.77277374267578
                    }
                },
                "velocity": {
                    "x": 0.20308443903923035,
                    "y": 10.70407772064209,
                    "z": -0.09647850692272186
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4458,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.54232406616211,
                "transform": {
                    "location": {
                        "x": 212.85218811035156,
                        "y": 5627.81884765625,
                        "z": 365.08001708984375
                    },
                    "rotation": {
                        "roll": -0.163330078125,
                        "pitch": -0.4307253658771515,
                        "yaw": 98.75077056884766
                    }
                },
                "velocity": {
                    "x": -2.170527219772339,
                    "y": 14.379026412963867,
                    "z": -0.10780246555805206
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004882996436208487,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.5972425646614283e-05,
                    "y": -6.997288437560201e-08,
                    "z": 0.00048760842764750123
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007924279198050499,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 3.14696881105192e-05,
                    "y": -9.005188985611312e-06,
                    "z": 0.0007917515467852354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005075974622741342,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.185316745657474e-05,
                    "y": -1.0429158464830834e-05,
                    "z": 0.000506489654071629
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014192824892234057,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -1.5237852494465187e-05,
                    "y": 1.6304007658618502e-05,
                    "z": 0.00014016282511875033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2774939831579104e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.13732095062732697,
                        "yaw": -0.0453491136431694
                    }
                },
                "velocity": {
                    "x": -5.145370778336655e-07,
                    "y": 3.114522769465111e-05,
                    "z": -4.260169225744903e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011205511400476098,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": 1.7374903109157458e-05,
                    "y": -5.619584408123046e-05,
                    "z": 0.0011190061923116446
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.339754276676103e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -5.12197584612295e-06,
                    "y": 1.3355416740523651e-05,
                    "z": -8.216172136599198e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8803488273988478e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.007454156409949064,
                        "pitch": -0.22900256514549255,
                        "yaw": 177.72650146484375
                    }
                },
                "velocity": {
                    "x": -5.606040303973714e-06,
                    "y": -6.547541033796733e-07,
                    "z": -1.7936408767127432e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000421939417719841,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -5.128569682710804e-06,
                    "y": -1.1369139429007191e-05,
                    "z": 0.0004217550449538976
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015770115423947573,
                "transform": {
                    "location": {
                        "x": 217.11373901367188,
                        "y": 5615.80029296875,
                        "z": 365.1650390625
                    },
                    "rotation": {
                        "roll": 0.0012339350068941712,
                        "pitch": 0.3143799304962158,
                        "yaw": -84.54034423828125
                    }
                },
                "velocity": {
                    "x": 5.659370435751043e-05,
                    "y": 0.001080303336493671,
                    "z": 0.001147478586062789
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43653714656829834,
                "transform": {
                    "location": {
                        "x": 217.8651580810547,
                        "y": 5605.55419921875,
                        "z": 365.2342834472656
                    },
                    "rotation": {
                        "roll": 0.002085730666294694,
                        "pitch": 0.3626147210597992,
                        "yaw": -86.69964599609375
                    }
                },
                "velocity": {
                    "x": 0.024242976680397987,
                    "y": -0.4358538091182709,
                    "z": 0.00290336599573493
                },
                "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": -0.9732173085212708,
        "expert_target_speed": 0,
        "target_point": [
            9.261301988088428,
            -9.032394073676283
        ],
        "target_point_next": [
            11.345512865359941,
            -59.989783348308535
        ]
    },
    "565": {
        "acceleration": [
            -0.07071733474731445,
            -0.41439294815063477,
            -0.004456518217921257
        ],
        "angular_velocity": [
            -0.12686185538768768,
            0.09343000501394272,
            -1.9136910438537598
        ],
        "forward_vector": [
            -0.045988623052835464,
            -0.9989115595817566,
            0.007796327117830515
        ],
        "right_vector": [
            0.998941957950592,
            -0.045989278703927994,
            9.533785487292334e-05
        ],
        "location": [
            218.09983825683594,
            5588.93798828125,
            365.35064697265625
        ],
        "rotation": [
            -0.005462622735649347,
            0.44670116901397705,
            -92.6359634399414
        ],
        "velocity": [
            -0.042499933391809464,
            -0.4514142572879791,
            0.0025214480701833963
        ],
        "speed": 0.4534104939468936,
        "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": 15.30305004119873,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.76560640335083,
                "transform": {
                    "location": {
                        "x": 214.09054565429688,
                        "y": 5526.27783203125,
                        "z": 365.8591613769531
                    },
                    "rotation": {
                        "roll": -0.005676283501088619,
                        "pitch": -0.4600473642349243,
                        "yaw": 91.15540313720703
                    }
                },
                "velocity": {
                    "x": -0.10788166522979736,
                    "y": 6.764490127563477,
                    "z": -0.058849360793828964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.482280254364014,
                "transform": {
                    "location": {
                        "x": 214.53453063964844,
                        "y": 5552.96923828125,
                        "z": 365.62884521484375
                    },
                    "rotation": {
                        "roll": -0.0002746841637417674,
                        "pitch": -0.4684075117111206,
                        "yaw": 88.27327728271484
                    }
                },
                "velocity": {
                    "x": 0.22625239193439484,
                    "y": 7.478616714477539,
                    "z": -0.06017708778381348
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.3933458073297516e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009185790084302425,
                        "pitch": -0.8073965907096863,
                        "yaw": 0.46943438053131104
                    }
                },
                "velocity": {
                    "x": 2.421095996396616e-05,
                    "y": -3.139346154057421e-05,
                    "z": -1.8932216335088015e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002493219217285514,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.79608357232064e-05,
                    "y": 2.1049625047453446e-06,
                    "z": -0.00024774015764705837
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.822027206420898,
                "transform": {
                    "location": {
                        "x": 215.3688201904297,
                        "y": 5583.64794921875,
                        "z": 365.3947448730469
                    },
                    "rotation": {
                        "roll": -0.030303936451673508,
                        "pitch": -0.22002770006656647,
                        "yaw": 89.1114273071289
                    }
                },
                "velocity": {
                    "x": 0.18001320958137512,
                    "y": 11.82027816772461,
                    "z": -0.0945473238825798
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013199022214394063,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.040565050265286e-05,
                    "y": -4.7570106289640535e-06,
                    "z": 0.00013031653361395001
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003783022693824023,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 2.440199205011595e-05,
                    "y": 2.1162621123949066e-05,
                    "z": 0.0003769207978621125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00036809220910072327,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.6331468689022586e-05,
                    "y": -2.255387244076701e-06,
                    "z": 0.0003671422600746155
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.095850792713463e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -1.858577161328867e-05,
                    "y": 1.4750366062799003e-05,
                    "z": -4.509728751145303e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00033827818697318435,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.13738924264907837,
                        "yaw": -0.0453491173684597
                    }
                },
                "velocity": {
                    "x": 3.989953256677836e-06,
                    "y": -1.303595672652591e-05,
                    "z": 0.0003380033595021814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001590754953213036,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": -8.122287908918224e-06,
                    "y": -0.00010547762212809175,
                    "z": 0.0015872333897277713
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00025635483325459063,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -2.0816250980715267e-05,
                    "y": 1.585284735483583e-05,
                    "z": -0.0002550160279497504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019988951680716127,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -1.7945468471225468e-06,
                    "y": -3.3833774068625644e-05,
                    "z": -0.00019699714903254062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008366996189579368,
                "transform": {
                    "location": {
                        "x": 217.11383056640625,
                        "y": 5615.7998046875,
                        "z": 365.16510009765625
                    },
                    "rotation": {
                        "roll": -0.00030520421569235623,
                        "pitch": 0.3832896947860718,
                        "yaw": -84.54031372070312
                    }
                },
                "velocity": {
                    "x": 6.75077099003829e-05,
                    "y": 0.00016353026148863137,
                    "z": 0.0008177816634997725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3350800573825836,
                "transform": {
                    "location": {
                        "x": 217.86984252929688,
                        "y": 5605.46484375,
                        "z": 365.23480224609375
                    },
                    "rotation": {
                        "roll": 0.004132268950343132,
                        "pitch": 0.36672648787498474,
                        "yaw": -86.68758392333984
                    }
                },
                "velocity": {
                    "x": 0.01790250651538372,
                    "y": -0.33458784222602844,
                    "z": 0.0030202579218894243
                },
                "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": -0.9904735088348389,
        "expert_target_speed": 0,
        "target_point": [
            9.187963597925954,
            -9.003480513286824
        ],
        "target_point_next": [
            11.411080378281273,
            -59.954998728628006
        ]
    },
    "570": {
        "acceleration": [
            -0.17738938331604004,
            -0.5264782905578613,
            0.0003652554005384445
        ],
        "angular_velocity": [
            -0.057075537741184235,
            0.0841427892446518,
            -3.2407400608062744
        ],
        "forward_vector": [
            -0.052713632583618164,
            -0.9985727071762085,
            0.008590592071413994
        ],
        "right_vector": [
            0.998609185218811,
            -0.05271999537944794,
            -0.000515913066919893
        ],
        "location": [
            218.08343505859375,
            5588.79736328125,
            365.3514404296875
        ],
        "rotation": [
            0.02956073358654976,
            0.49221071600914,
            -93.02178192138672
        ],
        "velocity": [
            -0.0996716320514679,
            -0.6771273612976074,
            0.003836469491943717
        ],
        "speed": 0.6844237705206211,
        "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": 15.234949111938477,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -2.097971628245432e-05,
                -4.292556332075037e-05,
                0.0004115287447348237
            ],
            "speed_kmh": 0.0014914546712898504,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.480866432189941,
                "transform": {
                    "location": {
                        "x": 214.06358337402344,
                        "y": 5527.9072265625,
                        "z": 365.84503173828125
                    },
                    "rotation": {
                        "roll": -0.0031127731781452894,
                        "pitch": -0.46256086230278015,
                        "yaw": 90.98619079589844
                    }
                },
                "velocity": {
                    "x": -0.10001742839813232,
                    "y": 6.479851722717285,
                    "z": -0.0561089888215065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.075521945953369,
                "transform": {
                    "location": {
                        "x": 214.58937072753906,
                        "y": 5554.78564453125,
                        "z": 365.61431884765625
                    },
                    "rotation": {
                        "roll": -0.001098629436455667,
                        "pitch": -0.4655798077583313,
                        "yaw": 88.27252197265625
                    }
                },
                "velocity": {
                    "x": 0.21266204118728638,
                    "y": 7.072103023529053,
                    "z": -0.05606614053249359
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8884654966532253e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009185790084302425,
                        "pitch": -0.8073965907096863,
                        "yaw": 0.46943438053131104
                    }
                },
                "velocity": {
                    "x": 2.5854109480860643e-05,
                    "y": 1.1488216841826215e-05,
                    "z": -5.823161700391211e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002622655010782182,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.0547062376863323e-05,
                    "y": -4.899693522020243e-05,
                    "z": -0.0002568273921497166
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.850432395935059,
                "transform": {
                    "location": {
                        "x": 215.40687561035156,
                        "y": 5586.73779296875,
                        "z": 365.37127685546875
                    },
                    "rotation": {
                        "roll": -0.05712890625,
                        "pitch": -0.17187486588954926,
                        "yaw": 89.443359375
                    }
                },
                "velocity": {
                    "x": 0.11303360760211945,
                    "y": 12.84962272644043,
                    "z": -0.08967553079128265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8316768546355888e-05,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 1.4548375474987552e-05,
                    "y": 8.881099347490817e-06,
                    "z": -6.70633016852662e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000976312265265733,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 1.792497823771555e-05,
                    "y": -3.551305053406395e-05,
                    "z": 0.0009755014907568693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6012081434600987e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.54660099017201e-05,
                    "y": 2.57733177022601e-07,
                    "z": 5.29567932971986e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006138893659226596,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.13738924264907837,
                        "yaw": -0.0453491173684597
                    }
                },
                "velocity": {
                    "x": 2.333868178538978e-05,
                    "y": 3.757983222385519e-06,
                    "z": 0.0006134340655989945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001042071613483131,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": -1.0287798431818374e-05,
                    "y": 2.026692709478084e-05,
                    "z": 0.0010418236488476396
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.682619404164143e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.5901923688943498e-05,
                    "y": -4.787826242136362e-07,
                    "z": 5.479087121784687e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016057814355008304,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -1.0904129339905921e-05,
                    "y": 1.9388300643186085e-05,
                    "z": -0.00015902997984085232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00041429296834394336,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -2.097971628245432e-05,
                    "y": -4.292556332075037e-05,
                    "z": 0.0004115287447348237
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5022412538528442,
                "transform": {
                    "location": {
                        "x": 217.11859130859375,
                        "y": 5615.75,
                        "z": 365.1656494140625
                    },
                    "rotation": {
                        "roll": 0.0005743146757595241,
                        "pitch": 0.4597468376159668,
                        "yaw": -84.48544311523438
                    }
                },
                "velocity": {
                    "x": 0.047685407102108,
                    "y": -0.49996188282966614,
                    "z": 0.00324325542896986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.12509484589099884,
                "transform": {
                    "location": {
                        "x": 217.875,
                        "y": 5605.36474609375,
                        "z": 365.23565673828125
                    },
                    "rotation": {
                        "roll": 0.002247209195047617,
                        "pitch": 0.3291262984275818,
                        "yaw": -86.6368408203125
                    }
                },
                "velocity": {
                    "x": 0.006422060076147318,
                    "y": -0.12492495030164719,
                    "z": 0.0011112976353615522
                },
                "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": -1.000653624534607,
        "expert_target_speed": 10.0,
        "target_point": [
            9.107089125030923,
            -8.93243899777954
        ],
        "target_point_next": [
            11.673255049123329,
            -59.86783189031909
        ]
    },
    "575": {
        "acceleration": [
            -0.6266301870346069,
            -1.6183018684387207,
            1.7546117305755615e-05
        ],
        "angular_velocity": [
            -0.10926546901464462,
            0.13333983719348907,
            -7.278759956359863
        ],
        "forward_vector": [
            -0.07349201291799545,
            -0.9972497224807739,
            0.009586782194674015
        ],
        "right_vector": [
            0.9972928166389465,
            -0.07351186126470566,
            -0.0017347856191918254
        ],
        "location": [
            218.04156494140625,
            5588.564453125,
            365.3529357910156
        ],
        "rotation": [
            0.09940051287412643,
            0.5492905974388123,
            -94.21477508544922
        ],
        "velocity": [
            -0.24891023337841034,
            -1.090516448020935,
            0.006741647608578205
        ],
        "speed": 1.1185626614922792,
        "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": 15.136531829833984,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -3.9912015381560195e-06,
                4.979054665454896e-06,
                0.00021613958233501762
            ],
            "speed_kmh": 0.0007784415423539406,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.362818241119385,
                "transform": {
                    "location": {
                        "x": 214.05328369140625,
                        "y": 5529.6259765625,
                        "z": 365.83099365234375
                    },
                    "rotation": {
                        "roll": -0.025482164695858955,
                        "pitch": -0.5525485873222351,
                        "yaw": 90.419921875
                    }
                },
                "velocity": {
                    "x": 0.022605733945965767,
                    "y": 7.362521648406982,
                    "z": -0.062107332050800323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.7655487060546875,
                "transform": {
                    "location": {
                        "x": 214.6414031982422,
                        "y": 5556.51318359375,
                        "z": 365.6005859375
                    },
                    "rotation": {
                        "roll": -0.001251218724064529,
                        "pitch": -0.4592960476875305,
                        "yaw": 88.27455139160156
                    }
                },
                "velocity": {
                    "x": 0.2028963565826416,
                    "y": 6.76229190826416,
                    "z": -0.05373062938451767
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.932278766820673e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009185790084302425,
                        "pitch": -0.8073965907096863,
                        "yaw": 0.46943438053131104
                    }
                },
                "velocity": {
                    "x": 1.870185042207595e-05,
                    "y": 5.46020055480767e-06,
                    "z": -2.191467137890868e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005157207488082349,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 1.9212662664358504e-05,
                    "y": -1.601324947841931e-05,
                    "z": -0.000515113933943212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.862369537353516,
                "transform": {
                    "location": {
                        "x": 215.4285888671875,
                        "y": 5590.08154296875,
                        "z": 365.34808349609375
                    },
                    "rotation": {
                        "roll": -0.045745838433504105,
                        "pitch": -0.18865664303302765,
                        "yaw": 89.73955535888672
                    }
                },
                "velocity": {
                    "x": 0.06755905598402023,
                    "y": 13.861865043640137,
                    "z": -0.09706272184848785
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00025056980666704476,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.0905135897919536e-05,
                    "y": 3.6867520520900143e-06,
                    "z": 0.0002496690140105784
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002516180684324354,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 1.5687122868257575e-05,
                    "y": 7.873755748732947e-06,
                    "z": -0.0002510051126591861
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003089774982072413,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.0040199160575867e-05,
                    "y": -8.857748071022797e-06,
                    "z": 0.0003081996401306242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000170053870533593,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -3.410287172300741e-05,
                    "y": 2.6555884687695652e-05,
                    "z": 0.00016446913650725037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005701188929378986,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.13738924264907837,
                        "yaw": -0.0453491173684597
                    }
                },
                "velocity": {
                    "x": 4.9857981139211915e-06,
                    "y": 4.923031610815087e-06,
                    "z": 0.0005700758192688227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0016557459020987153,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.2485351711511612
                    }
                },
                "velocity": {
                    "x": -2.047747329925187e-05,
                    "y": 0.00010697048128349707,
                    "z": 0.0016521599609404802
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005040177493356168,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.8896087567554787e-05,
                    "y": -2.906401505242684e-06,
                    "z": 0.0005036549991928041
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003866319020744413,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -2.322718373193311e-08,
                    "y": 1.8445163732394576e-05,
                    "z": -0.00038619167753495276
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002162337623303756,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -3.9912015381560195e-06,
                    "y": 4.979054665454896e-06,
                    "z": 0.00021613958233501762
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6296749711036682,
                "transform": {
                    "location": {
                        "x": 217.14022827148438,
                        "y": 5615.5234375,
                        "z": 365.1672058105469
                    },
                    "rotation": {
                        "roll": 0.0007908077677711844,
                        "pitch": 0.4701218903064728,
                        "yaw": -84.36317443847656
                    }
                },
                "velocity": {
                    "x": 0.061372265219688416,
                    "y": -0.626661479473114,
                    "z": 0.004406261257827282
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.014010671526193619,
                "transform": {
                    "location": {
                        "x": 217.8809356689453,
                        "y": 5605.2548828125,
                        "z": 365.2361145019531
                    },
                    "rotation": {
                        "roll": 0.0039293826557695866,
                        "pitch": 0.41491347551345825,
                        "yaw": -86.60357666015625
                    }
                },
                "velocity": {
                    "x": 0.00047285735490731895,
                    "y": -0.014000510796904564,
                    "z": -0.0002470415784046054
                },
                "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": -0.9798762798309326,
        "expert_target_speed": 10.0,
        "target_point": [
            9.05571901693545,
            -8.716266767296062
        ],
        "target_point_next": [
            12.681734211910344,
            -59.58719628969768
        ]
    },
    "580": {
        "acceleration": [
            -1.1899375915527344,
            -1.725621223449707,
            0.009533315896987915
        ],
        "angular_velocity": [
            -0.07994113117456436,
            0.33724310994148254,
            -11.253262519836426
        ],
        "forward_vector": [
            -0.11365919560194016,
            -0.9934651255607605,
            0.010420371778309345
        ],
        "right_vector": [
            0.9935099482536316,
            -0.11369849741458893,
            -0.0032586639281362295
        ],
        "location": [
            217.95530700683594,
            5588.228515625,
            365.3551025390625
        ],
        "rotation": [
            0.1867181658744812,
            0.597054123878479,
            -96.52664947509766
        ],
        "velocity": [
            -0.5021176338195801,
            -1.5543092489242554,
            0.010390691459178925
        ],
        "speed": 1.6334011630594785,
        "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": 15.02167797088623,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                9.91381693893345e-06,
                9.70212568063289e-06,
                0.0007969953585416079
            ],
            "speed_kmh": 0.002869617823758889,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.684284210205078,
                "transform": {
                    "location": {
                        "x": 214.05702209472656,
                        "y": 5531.5576171875,
                        "z": 365.81500244140625
                    },
                    "rotation": {
                        "roll": -0.009613056667149067,
                        "pitch": -0.6144437789916992,
                        "yaw": 89.95118713378906
                    }
                },
                "velocity": {
                    "x": 0.040119610726833344,
                    "y": 8.683876991271973,
                    "z": -0.07388914376497269
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.387847423553467,
                "transform": {
                    "location": {
                        "x": 214.69085693359375,
                        "y": 5558.154296875,
                        "z": 365.5876770019531
                    },
                    "rotation": {
                        "roll": -0.00039669725811108947,
                        "pitch": -0.4583466351032257,
                        "yaw": 88.27722930908203
                    }
                },
                "velocity": {
                    "x": 0.1920733004808426,
                    "y": 6.384754657745361,
                    "z": -0.051118750125169754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.561110108625144e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009124755859375,
                        "pitch": -0.8073965907096863,
                        "yaw": 0.4692878723144531
                    }
                },
                "velocity": {
                    "x": 2.5042443667189218e-05,
                    "y": 3.4393601708870847e-06,
                    "z": -3.796603050432168e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.4957348766038194e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 4.2119027057196945e-05,
                    "y": -1.8673355270948377e-06,
                    "z": 3.5253520763944834e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.476801872253418,
                "transform": {
                    "location": {
                        "x": 215.42233276367188,
                        "y": 5593.59375,
                        "z": 365.3232421875
                    },
                    "rotation": {
                        "roll": -0.08245846629142761,
                        "pitch": -0.23721246421337128,
                        "yaw": 90.34639739990234
                    }
                },
                "velocity": {
                    "x": -0.07972052693367004,
                    "y": 14.476213455200195,
                    "z": -0.10335106402635574
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.332958870800212e-05,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.6774107027449645e-05,
                    "y": -1.6029516700655222e-05,
                    "z": 8.795802568783984e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007657005917280912,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 3.2781437766971067e-05,
                    "y": 3.7976062685629586e-06,
                    "z": 0.0007649891194887459
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003422434674575925,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.0859464711975306e-05,
                    "y": 2.121261422871612e-05,
                    "z": 0.00034094793954864144
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.166935807210393e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.436019349261187e-05,
                    "y": -5.463647312353714e-07,
                    "z": 4.556319981929846e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00031933767604641616,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.13738924264907837,
                        "yaw": -0.0453491173684597
                    }
                },
                "velocity": {
                    "x": 4.868973064731108e-06,
                    "y": 3.872205070365453e-06,
                    "z": 0.00031927708187140524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000995566719211638,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": -0.22030773758888245,
                        "yaw": -0.248626708984375
                    }
                },
                "velocity": {
                    "x": 8.151624570018612e-06,
                    "y": 0.00010988929716404527,
                    "z": 0.0009894497925415635
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005391240702010691,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.3821721040585544e-05,
                    "y": 2.0376498923724284e-06,
                    "z": 0.0005389429861679673
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018708773131947964,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -1.771002899886298e-07,
                    "y": -8.348450137418695e-06,
                    "z": -0.0001869012921815738
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007971160812303424,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 9.91381693893345e-06,
                    "y": 9.70212568063289e-06,
                    "z": 0.0007969953585416079
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009940547170117497,
                "transform": {
                    "location": {
                        "x": 217.140625,
                        "y": 5615.51904296875,
                        "z": 365.1671142578125
                    },
                    "rotation": {
                        "roll": 0.0003444238973315805,
                        "pitch": 0.34629055857658386,
                        "yaw": -84.35680389404297
                    }
                },
                "velocity": {
                    "x": -5.326919927028939e-05,
                    "y": 0.0007220300612971187,
                    "z": 0.000681160541716963
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9534105062484741,
                "transform": {
                    "location": {
                        "x": 217.88804626464844,
                        "y": 5605.12548828125,
                        "z": 365.2364807128906
                    },
                    "rotation": {
                        "roll": 0.0068517280742526054,
                        "pitch": 0.560901939868927,
                        "yaw": -86.6311264038086
                    }
                },
                "velocity": {
                    "x": 0.05147184431552887,
                    "y": -0.951992928981781,
                    "z": 0.007192229852080345
                },
                "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": -0.927736222743988,
        "expert_target_speed": 10.0,
        "target_point": [
            9.056388857904173,
            -8.296358928693708
        ],
        "target_point_next": [
            14.731535703600722,
            -58.97961222746214
        ]
    },
    "585": {
        "acceleration": [
            -2.2340786457061768,
            -3.0720043182373047,
            0.016667749732732773
        ],
        "angular_velocity": [
            -0.33433207869529724,
            0.6610035300254822,
            -21.450984954833984
        ],
        "forward_vector": [
            -0.1859641969203949,
            -0.982487678527832,
            0.011630629189312458
        ],
        "right_vector": [
            0.9825243353843689,
            -0.18604089319705963,
            -0.005892657674849033
        ],
        "location": [
            217.78640747070312,
            5587.76171875,
            365.358154296875
        ],
        "rotation": [
            0.3376491963863373,
            0.6664010286331177,
            -100.71808624267578
        ],
        "velocity": [
            -0.9716159701347351,
            -2.190436601638794,
            0.015062512829899788
        ],
        "speed": 2.3962575193872153,
        "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": 14.915942192077637,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                9.53689232119359e-06,
                -6.849691999377683e-05,
                0.0002756156027317047
            ],
            "speed_kmh": 0.0010229749562892106,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.996618270874023,
                "transform": {
                    "location": {
                        "x": 214.06936645507812,
                        "y": 5533.92431640625,
                        "z": 365.7950439453125
                    },
                    "rotation": {
                        "roll": -0.023468017578125,
                        "pitch": -0.6278992295265198,
                        "yaw": 89.66610717773438
                    }
                },
                "velocity": {
                    "x": 0.13924263417720795,
                    "y": 9.995291709899902,
                    "z": -0.08447279036045074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.113420486450195,
                "transform": {
                    "location": {
                        "x": 214.73773193359375,
                        "y": 5559.7138671875,
                        "z": 365.5754699707031
                    },
                    "rotation": {
                        "roll": -0.0016784925246611238,
                        "pitch": -0.45849692821502686,
                        "yaw": 88.27713012695312
                    }
                },
                "velocity": {
                    "x": 0.1837891787290573,
                    "y": 6.110464572906494,
                    "z": -0.04851584881544113
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8161530281067826e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009124755859375,
                        "pitch": -0.8073965907096863,
                        "yaw": 0.4692878723144531
                    }
                },
                "velocity": {
                    "x": 2.6060342861455865e-05,
                    "y": 6.921370186319109e-06,
                    "z": -8.125577551254537e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012346993025857955,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.9894559702370316e-05,
                    "y": -3.5406868846621364e-05,
                    "z": -0.00011444426490925252
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.69985580444336,
                "transform": {
                    "location": {
                        "x": 215.37342834472656,
                        "y": 5597.259765625,
                        "z": 365.29718017578125
                    },
                    "rotation": {
                        "roll": -0.1329345852136612,
                        "pitch": -0.3287369906902313,
                        "yaw": 91.185791015625
                    }
                },
                "velocity": {
                    "x": -0.2924184799194336,
                    "y": 14.696572303771973,
                    "z": -0.10490595549345016
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00044664079905487597,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.466387923050206e-05,
                    "y": 6.777155249437783e-06,
                    "z": 0.0004459077899809927
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004953705356456339,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 1.981876812351402e-05,
                    "y": -2.6931220418191515e-06,
                    "z": 0.0004949665744788945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006984479259699583,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.1635165214538574e-05,
                    "y": -3.2486278200849483e-07,
                    "z": 0.000697731040418148
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028936273884028196,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.6466770577826537e-05,
                    "y": 7.454543265339453e-06,
                    "z": 0.0002880533575080335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.276264609070495e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.13738924264907837,
                        "yaw": -0.0453491173684597
                    }
                },
                "velocity": {
                    "x": 6.066560672479682e-06,
                    "y": -1.8024700239038793e-06,
                    "z": 9.254650649381801e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011501205153763294,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": 0.00018572878616396338,
                        "pitch": -0.22002770006656647,
                        "yaw": -0.24865727126598358
                    }
                },
                "velocity": {
                    "x": -7.654111868760083e-06,
                    "y": 4.742083547171205e-05,
                    "z": 0.0011491170153021812
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00026620563585311174,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -8.71434804139426e-06,
                    "y": 2.1947900677332655e-05,
                    "z": 0.0002651561808306724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00028415973065420985,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 9.53689232119359e-06,
                    "y": -6.849691999377683e-05,
                    "z": 0.0002756156027317047
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.713263750076294,
                "transform": {
                    "location": {
                        "x": 217.14898681640625,
                        "y": 5615.4306640625,
                        "z": 365.16790771484375
                    },
                    "rotation": {
                        "roll": 0.003031319472938776,
                        "pitch": 0.47243732213974,
                        "yaw": -84.33330535888672
                    }
                },
                "velocity": {
                    "x": 0.06811319291591644,
                    "y": -0.7099902033805847,
                    "z": 0.0044422815553843975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.49012696743011475,
                "transform": {
                    "location": {
                        "x": 217.90538024902344,
                        "y": 5604.80908203125,
                        "z": 365.23883056640625
                    },
                    "rotation": {
                        "roll": 0.005505926441401243,
                        "pitch": 0.5282604694366455,
                        "yaw": -86.64703369140625
                    }
                },
                "velocity": {
                    "x": 0.02441610023379326,
                    "y": -0.48950785398483276,
                    "z": 0.0032158945687115192
                },
                "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": -0.7525957226753235,
        "expert_target_speed": 10.0,
        "target_point": [
            9.148472900367686,
            -7.533109966167958
        ],
        "target_point_next": [
            18.512816496246685,
            -57.666018576038795
        ]
    },
    "590": {
        "acceleration": [
            -3.877272605895996,
            -3.188915252685547,
            0.046741850674152374
        ],
        "angular_velocity": [
            -0.06835907697677612,
            1.0301626920700073,
            -31.97663116455078
        ],
        "forward_vector": [
            -0.29983317852020264,
            -0.9538949728012085,
            0.013579427264630795
        ],
        "right_vector": [
            0.9538916945457458,
            -0.2999774217605591,
            -0.010203874669969082
        ],
        "location": [
            217.4610137939453,
            5587.103515625,
            365.3623046875
        ],
        "rotation": [
            0.5847029685974121,
            0.7780677676200867,
            -107.4492416381836
        ],
        "velocity": [
            -1.8209651708602905,
            -3.0026063919067383,
            0.021877793595194817
        ],
        "speed": 3.511631999256962,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.917251371823516,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.870545387268066,
        "front_vehicle_info": {
            "id": 4444,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                230.5367889404297,
                5580.0224609375,
                365.4884033203125
            ],
            "velocity": [
                -1.4453641597356182e-05,
                0.00010979699436575174,
                0.0013007676461711526
            ],
            "speed_kmh": 0.004699704183393306,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.81872272491455,
                "transform": {
                    "location": {
                        "x": 214.1101531982422,
                        "y": 5536.53662109375,
                        "z": 365.7726135253906
                    },
                    "rotation": {
                        "roll": -0.02154540829360485,
                        "pitch": -0.5715023875236511,
                        "yaw": 89.09159851074219
                    }
                },
                "velocity": {
                    "x": 0.20386731624603271,
                    "y": 10.816427230834961,
                    "z": -0.09004910290241241
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.764063835144043,
                "transform": {
                    "location": {
                        "x": 214.7821044921875,
                        "y": 5561.1962890625,
                        "z": 365.5636901855469
                    },
                    "rotation": {
                        "roll": -0.0012207217514514923,
                        "pitch": -0.4574245810508728,
                        "yaw": 88.27873992919922
                    }
                },
                "velocity": {
                    "x": 0.17311425507068634,
                    "y": 5.761284828186035,
                    "z": -0.04539858177304268
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.5919226977275684e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009124755859375,
                        "pitch": -0.8073965907096863,
                        "yaw": 0.4692878723144531
                    }
                },
                "velocity": {
                    "x": 2.0994841179344803e-05,
                    "y": -4.327273927628994e-06,
                    "z": -4.060870560351759e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003143860667478293,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.284648119006306e-05,
                    "y": 8.788297236606013e-07,
                    "z": -0.0003126642550341785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.533317565917969,
                "transform": {
                    "location": {
                        "x": 215.27757263183594,
                        "y": 5600.91064453125,
                        "z": 365.2712097167969
                    },
                    "rotation": {
                        "roll": -0.1617736667394638,
                        "pitch": -0.4150705635547638,
                        "yaw": 91.92221069335938
                    }
                },
                "velocity": {
                    "x": -0.5027030110359192,
                    "y": 14.524252891540527,
                    "z": -0.10333028435707092
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002195061242673546,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.6095658540725708e-05,
                    "y": -1.2140541912231129e-05,
                    "z": 0.0002176110283471644
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00039744784589856863,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 2.6742070986074395e-05,
                    "y": 1.5390009139082395e-05,
                    "z": 0.0003962484188377857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006354838260449469,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -3.107555312453769e-05,
                    "y": -1.3218348726695694e-07,
                    "z": 0.0006347235757857561
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001537669450044632,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.5719849872984923e-05,
                    "y": 5.6117132771760225e-06,
                    "z": 0.00015149677346926183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005224428605288267,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.13732095062732697,
                        "yaw": -0.0453796349465847
                    }
                },
                "velocity": {
                    "x": 1.2238304407219402e-05,
                    "y": -1.268209598492831e-05,
                    "z": 0.0005221454775892198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.8535785026615486e-05,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": 0.00018572878616396338,
                        "pitch": -0.22002770006656647,
                        "yaw": -0.24865727126598358
                    }
                },
                "velocity": {
                    "x": -2.3165903257904574e-06,
                    "y": -6.482373009930598e-06,
                    "z": 4.804513446288183e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00042946424218825996,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.1105760677310172e-05,
                    "y": -3.269978151365649e-06,
                    "z": 0.0004293081583455205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021089323854539543,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -3.1583570034854347e-06,
                    "y": 1.4291569641500246e-05,
                    "z": -0.00021038472186774015
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001305473386310041,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.4453641597356182e-05,
                    "y": 0.00010979699436575174,
                    "z": 0.0013007676461711526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5450530052185059,
                "transform": {
                    "location": {
                        "x": 217.17678833007812,
                        "y": 5615.14111328125,
                        "z": 365.1700439453125
                    },
                    "rotation": {
                        "roll": 0.0026090291794389486,
                        "pitch": 0.5271334648132324,
                        "yaw": -84.38984680175781
                    }
                },
                "velocity": {
                    "x": 0.1471651941537857,
                    "y": -1.537988543510437,
                    "z": 0.011064395308494568
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8131209015846252,
                "transform": {
                    "location": {
                        "x": 217.91030883789062,
                        "y": 5604.716796875,
                        "z": 365.2400207519531
                    },
                    "rotation": {
                        "roll": 0.003416223917156458,
                        "pitch": 0.38148653507232666,
                        "yaw": -86.6406478881836
                    }
                },
                "velocity": {
                    "x": 0.04479173198342323,
                    "y": -0.8118689656257629,
                    "z": 0.005300416611135006
                },
                "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": -0.44064268469810486,
        "expert_target_speed": 10.0,
        "target_point": [
            9.242886901959043,
            -6.2958347222092
        ],
        "target_point_next": [
            24.418796124956547,
            -54.985579391109255
        ]
    },
    "595": {
        "acceleration": [
            -3.757600784301758,
            -1.2427234649658203,
            0.007647722959518433
        ],
        "angular_velocity": [
            0.484347403049469,
            0.19052986800670624,
            -37.95618438720703
        ],
        "forward_vector": [
            -0.4455796778202057,
            -0.8951362371444702,
            0.013781588524580002
        ],
        "right_vector": [
            0.8950629830360413,
            -0.4457457363605499,
            -0.013153130188584328
        ],
        "location": [
            216.90280151367188,
            5586.26123046875,
            365.3681945800781
        ],
        "rotation": [
            0.7537121176719666,
            0.7896518111228943,
            -116.463134765625
        ],
        "velocity": [
            -2.823956251144409,
            -3.544424057006836,
            0.02538744919002056
        ],
        "speed": 4.531850704101624,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.9573470345520794,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 101.54676055908203,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.439702987670898,
                "transform": {
                    "location": {
                        "x": 214.16171264648438,
                        "y": 5539.22119140625,
                        "z": 365.74945068359375
                    },
                    "rotation": {
                        "roll": -0.015869127586483955,
                        "pitch": -0.4568440020084381,
                        "yaw": 88.83740234375
                    }
                },
                "velocity": {
                    "x": 0.2439938336610794,
                    "y": 10.43648910522461,
                    "z": -0.08700021356344223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.525435447692871,
                "transform": {
                    "location": {
                        "x": 214.82437133789062,
                        "y": 5562.60546875,
                        "z": 365.552734375
                    },
                    "rotation": {
                        "roll": -0.0004882673092652112,
                        "pitch": -0.45696693658828735,
                        "yaw": 88.28333282470703
                    }
                },
                "velocity": {
                    "x": 0.16546045243740082,
                    "y": 5.522775650024414,
                    "z": -0.04480486735701561
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.416576070478186e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009124755859375,
                        "pitch": -0.8073965907096863,
                        "yaw": 0.4692878723144531
                    }
                },
                "velocity": {
                    "x": 3.19538994517643e-05,
                    "y": -1.3018327990721446e-05,
                    "z": -5.409913865150884e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.161145600141026e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.5901048502419144e-05,
                    "y": -9.385099474457093e-06,
                    "z": 4.364399137557484e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.490289688110352,
                "transform": {
                    "location": {
                        "x": 215.12655639648438,
                        "y": 5604.5322265625,
                        "z": 365.2454528808594
                    },
                    "rotation": {
                        "roll": -0.1716308742761612,
                        "pitch": -0.41723573207855225,
                        "yaw": 92.8079605102539
                    }
                },
                "velocity": {
                    "x": -0.7315853238105774,
                    "y": 14.471442222595215,
                    "z": -0.1032097116112709
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.181594264693558e-05,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.022005537583027e-05,
                    "y": -2.0697537195246696e-07,
                    "z": 6.891034718137234e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006159673794172704,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 2.89959461952094e-05,
                    "y": -2.3098804376786575e-05,
                    "z": 0.0006148507818579674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009217626648023725,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.777360350592062e-05,
                    "y": -2.6403769879834726e-05,
                    "z": 0.0009209657437168062
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018338009249418974,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.13730046153068542,
                        "yaw": -0.0453796349465847
                    }
                },
                "velocity": {
                    "x": 6.817784196755383e-06,
                    "y": -4.543790964817163e-06,
                    "z": 0.00018319697119295597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005493222852237523,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": 0.00018572878616396338,
                        "pitch": -0.22002770006656647,
                        "yaw": -0.24865727126598358
                    }
                },
                "velocity": {
                    "x": -1.3463198911267682e-06,
                    "y": 1.706088028186059e-06,
                    "z": 0.0005493179778568447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005738205509260297,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.7105638107750565e-05,
                    "y": 1.8208340406999923e-05,
                    "z": -0.0005732764257118106
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.997512486530468e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -3.842487785732374e-06,
                    "y": 3.2541531254537404e-05,
                    "z": -8.37962215882726e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00109613046515733,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.774773045326583e-05,
                    "y": -4.336930578574538e-05,
                    "z": 0.0010951283620670438
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3634190559387207,
                "transform": {
                    "location": {
                        "x": 217.22499084472656,
                        "y": 5614.63818359375,
                        "z": 365.1734924316406
                    },
                    "rotation": {
                        "roll": 0.0034298670943826437,
                        "pitch": 0.538792610168457,
                        "yaw": -84.42757415771484
                    }
                },
                "velocity": {
                    "x": 0.22484630346298218,
                    "y": -2.3526413440704346,
                    "z": 0.01652064360678196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.536625623703003,
                "transform": {
                    "location": {
                        "x": 217.9265594482422,
                        "y": 5604.4208984375,
                        "z": 365.24127197265625
                    },
                    "rotation": {
                        "roll": 0.006279849912971258,
                        "pitch": 0.62373286485672,
                        "yaw": -86.68535614013672
                    }
                },
                "velocity": {
                    "x": 0.08303824067115784,
                    "y": -1.5343455076217651,
                    "z": 0.010349264368414879
                },
                "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": 0.026201684027910233,
        "expert_target_speed": 10.0,
        "target_point": [
            9.112354525238587,
            -4.645573547428665
        ],
        "target_point_next": [
            31.729297136116635,
            -50.356331182843
        ]
    },
    "600": {
        "acceleration": [
            -2.4787139892578125,
            0.29320716857910156,
            -0.00535719096660614
        ],
        "angular_velocity": [
            0.2820553779602051,
            -0.8223626017570496,
            -34.15583419799805
        ],
        "forward_vector": [
            -0.5815012454986572,
            -0.8134701251983643,
            0.011073123663663864
        ],
        "right_vector": [
            0.8133759498596191,
            -0.5816040635108948,
            -0.012498090043663979
        ],
        "location": [
            216.12171936035156,
            5585.3486328125,
            365.3753356933594
        ],
        "rotation": [
            0.7161503434181213,
            0.634456217288971,
            -125.55870819091797
        ],
        "velocity": [
            -3.5862207412719727,
            -3.571237087249756,
            0.025922421365976334
        ],
        "speed": 5.061098056595764,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.006967852489383,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 100.71797180175781,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.688042640686035,
                "transform": {
                    "location": {
                        "x": 214.22218322753906,
                        "y": 5541.7265625,
                        "z": 365.7282409667969
                    },
                    "rotation": {
                        "roll": -0.008178715594112873,
                        "pitch": -0.40530338883399963,
                        "yaw": 88.60211181640625
                    }
                },
                "velocity": {
                    "x": 0.2491796314716339,
                    "y": 9.6845121383667,
                    "z": -0.07940679043531418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.202600955963135,
                "transform": {
                    "location": {
                        "x": 214.86444091796875,
                        "y": 5563.94384765625,
                        "z": 365.5421447753906
                    },
                    "rotation": {
                        "roll": 0.0013620526297017932,
                        "pitch": -0.4577934145927429,
                        "yaw": 88.28353118896484
                    }
                },
                "velocity": {
                    "x": 0.1557639241218567,
                    "y": 5.200107097625732,
                    "z": -0.04098885878920555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.228575512068346e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.009124755859375,
                        "pitch": -0.8073965907096863,
                        "yaw": 0.4692878723144531
                    }
                },
                "velocity": {
                    "x": 1.4752894458069932e-05,
                    "y": -5.850371508131502e-06,
                    "z": 6.022990055498667e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002954176743514836,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.680405850696843e-05,
                    "y": 5.067854544904549e-06,
                    "z": -0.00029415549943223596
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.510700225830078,
                "transform": {
                    "location": {
                        "x": 214.91554260253906,
                        "y": 5608.1513671875,
                        "z": 365.21966552734375
                    },
                    "rotation": {
                        "roll": -0.1521300971508026,
                        "pitch": -0.4061298668384552,
                        "yaw": 93.74742889404297
                    }
                },
                "velocity": {
                    "x": -0.9260722994804382,
                    "y": 14.480745315551758,
                    "z": -0.10405459254980087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00035932724131271243,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.3216827685246244e-05,
                    "y": 3.7734355373686412e-06,
                    "z": 0.0003585565718822181
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005305834929458797,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 3.3379568776581436e-05,
                    "y": 8.808294296613894e-06,
                    "z": 0.0005294592119753361
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011140363058075309,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.9868930141674355e-05,
                    "y": 8.310126759170089e-06,
                    "z": 0.0011136047542095184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016104649694170803,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.4887918698368594e-05,
                    "y": 1.100017561839195e-05,
                    "z": 0.0001587310980539769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006058836588636041,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.13730046153068542,
                        "yaw": -0.0453796349465847
                    }
                },
                "velocity": {
                    "x": 5.588736257777782e-06,
                    "y": -2.6066089731102693e-07,
                    "z": 0.0006058578146621585
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.745656668907031e-05,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": 0.00018572878616396338,
                        "pitch": -0.22002770006656647,
                        "yaw": -0.24865727126598358
                    }
                },
                "velocity": {
                    "x": -4.456385795492679e-05,
                    "y": 6.461560406023636e-05,
                    "z": 3.8568621675949544e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.366627010516822e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -2.1774321794509888e-05,
                    "y": -3.177195685566403e-05,
                    "z": -3.7369645724538714e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000534083170350641,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -4.294495738577098e-06,
                    "y": 1.0970994480885565e-05,
                    "z": -0.0005339531926438212
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011513176141306758,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.2497460526647046e-05,
                    "y": 5.706501906388439e-05,
                    "z": 0.0011491170153021812
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007364631164819002,
                "transform": {
                    "location": {
                        "x": 217.25546264648438,
                        "y": 5614.31884765625,
                        "z": 365.17529296875
                    },
                    "rotation": {
                        "roll": 4.497662666835822e-05,
                        "pitch": 0.12222623080015182,
                        "yaw": -84.38842010498047
                    }
                },
                "velocity": {
                    "x": -0.0001658545370446518,
                    "y": 0.00018901447765529156,
                    "z": 0.0006922020693309605
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5385642051696777,
                "transform": {
                    "location": {
                        "x": 217.9540557861328,
                        "y": 5603.91552734375,
                        "z": 365.24420166015625
                    },
                    "rotation": {
                        "roll": 0.009112044237554073,
                        "pitch": 0.7653499841690063,
                        "yaw": -86.7428207397461
                    }
                },
                "velocity": {
                    "x": 0.136546328663826,
                    "y": -2.5348291397094727,
                    "z": 0.01746385544538498
                },
                "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": 0.49978896975517273,
        "expert_target_speed": 10.0,
        "target_point": [
            8.53551040353738,
            -3.041950732689727
        ],
        "target_point_next": [
            38.09408497695954,
            -44.602630778314364
        ]
    },
    "605": {
        "acceleration": [
            -1.0689353942871094,
            2.104024887084961,
            -0.20237617194652557
        ],
        "angular_velocity": [
            0.7575401067733765,
            0.40615546703338623,
            -28.465435028076172
        ],
        "forward_vector": [
            -0.6834351420402527,
            -0.7299713492393494,
            0.007633611559867859
        ],
        "right_vector": [
            0.7299018502235413,
            -0.6834763288497925,
            -0.010164177045226097
        ],
        "location": [
            215.2067108154297,
            5584.48046875,
            365.3833923339844
        ],
        "rotation": [
            0.5823914408683777,
            0.4373779594898224,
            -133.11422729492188
        ],
        "velocity": [
            -3.9024658203125,
            -3.1848573684692383,
            0.030984438955783844
        ],
        "speed": 5.037117820361175,
        "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": 11.166261672973633,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.ford.mustang",
            "location": [
                204.0812530517578,
                5583.529296875,
                365.4530334472656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.257035255432129,
                "transform": {
                    "location": {
                        "x": 214.28358459472656,
                        "y": 5544.087890625,
                        "z": 365.7088317871094
                    },
                    "rotation": {
                        "roll": -0.006286628544330597,
                        "pitch": -0.4254729449748993,
                        "yaw": 88.48007202148438
                    }
                },
                "velocity": {
                    "x": 0.25656232237815857,
                    "y": 9.253162384033203,
                    "z": -0.07650958001613617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.1452484130859375,
                "transform": {
                    "location": {
                        "x": 214.90289306640625,
                        "y": 5565.220703125,
                        "z": 365.5321044921875
                    },
                    "rotation": {
                        "roll": 2.494698674126994e-05,
                        "pitch": -0.4556555449962616,
                        "yaw": 88.28241729736328
                    }
                },
                "velocity": {
                    "x": 0.15410512685775757,
                    "y": 5.142779350280762,
                    "z": -0.0406358428299427
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.118306631222367e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00909423828125,
                        "pitch": -0.8072190284729004,
                        "yaw": 0.46903926134109497
                    }
                },
                "velocity": {
                    "x": 2.5479792384430766e-05,
                    "y": 1.0343877875129692e-05,
                    "z": -1.4702650332765188e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018416636157780886,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.188444159401115e-05,
                    "y": -2.9231559892650694e-06,
                    "z": -0.00018283810641150922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.517004013061523,
                "transform": {
                    "location": {
                        "x": 214.65139770507812,
                        "y": 5611.77001953125,
                        "z": 365.1939392089844
                    },
                    "rotation": {
                        "roll": -0.167083740234375,
                        "pitch": -0.40649184584617615,
                        "yaw": 94.65120697021484
                    }
                },
                "velocity": {
                    "x": -1.1670070886611938,
                    "y": 14.46965503692627,
                    "z": -0.10288061946630478
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00029388401890173554,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.2210106180864386e-05,
                    "y": 3.057805542994174e-06,
                    "z": 0.0002930276095867157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009746876312419772,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.6338551640510559,
                        "yaw": -0.0178527794778347
                    }
                },
                "velocity": {
                    "x": 4.425465886015445e-05,
                    "y": -1.4364719618242816e-06,
                    "z": 0.0009736813954077661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.793878800526727e-05,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -1.6480087651871145e-05,
                    "y": 7.4501878088995e-07,
                    "z": -7.046399332466535e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.655622615246102e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -3.671884405775927e-05,
                    "y": -1.6199543097172864e-05,
                    "z": 2.359625796088949e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002709300897549838,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.13730046153068542,
                        "yaw": -0.0453796349465847
                    }
                },
                "velocity": {
                    "x": 4.267096301191486e-06,
                    "y": 1.7846579112301697e-06,
                    "z": 0.000270890595857054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003540655307006091,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": 0.00018572878616396338,
                        "pitch": -0.22002770006656647,
                        "yaw": -0.24865727126598358
                    }
                },
                "velocity": {
                    "x": 8.671916475577746e-06,
                    "y": 3.646266804935294e-06,
                    "z": -0.0003539405588526279
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00016158806101884693,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.7194077372550964e-05,
                    "y": 4.09681115343119e-06,
                    "z": -0.0001606184378033504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.48228412703611e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -1.5708990758867003e-05,
                    "y": -1.7272852346650325e-05,
                    "z": -7.108680438250303e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012489811051636934,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.5727579011581838e-05,
                    "y": -3.8155736547196284e-05,
                    "z": 0.0012482990277931094
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4720586836338043,
                "transform": {
                    "location": {
                        "x": 217.25914001464844,
                        "y": 5614.279296875,
                        "z": 365.17596435546875
                    },
                    "rotation": {
                        "roll": 0.002755348104983568,
                        "pitch": 0.37986093759536743,
                        "yaw": -84.42186737060547
                    }
                },
                "velocity": {
                    "x": 0.04492323473095894,
                    "y": -0.4699053168296814,
                    "z": 0.0032082078978419304
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5998620986938477,
                "transform": {
                    "location": {
                        "x": 217.98773193359375,
                        "y": 5603.1162109375,
                        "z": 365.2494201660156
                    },
                    "rotation": {
                        "roll": 0.06027664989233017,
                        "pitch": 0.8813812136650085,
                        "yaw": -87.15451049804688
                    }
                },
                "velocity": {
                    "x": 0.13038013875484467,
                    "y": -3.5974113941192627,
                    "z": 0.025250062346458435
                },
                "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": 0.7903054356575012,
        "expert_target_speed": 10.0,
        "target_point": [
            7.602260609373907,
            -1.8186331900697676
        ],
        "target_point_next": [
            42.368893104137555,
            -39.1319112776539
        ]
    },
    "610": {
        "acceleration": [
            -0.8092021942138672,
            1.9292545318603516,
            0.009538903832435608
        ],
        "angular_velocity": [
            -0.0722925215959549,
            0.4126303493976593,
            -24.79889488220215
        ],
        "forward_vector": [
            -0.7629652619361877,
            -0.6463875770568848,
            0.008192328736186028
        ],
        "right_vector": [
            0.6462904214859009,
            -0.7630002498626709,
            -0.011806621216237545
        ],
        "location": [
            214.2078857421875,
            5583.72314453125,
            365.39251708984375
        ],
        "rotation": [
            0.6765080094337463,
            0.4693910777568817,
            -139.72857666015625
        ],
        "velocity": [
            -4.174976348876953,
            -2.745250701904297,
            0.03905428946018219
        ],
        "speed": 4.99668179194833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.128668785095215,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.ford.mustang",
            "location": [
                204.0812530517578,
                5583.529296875,
                365.4530334472656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.830039978027344,
                "transform": {
                    "location": {
                        "x": 214.34671020507812,
                        "y": 5546.34716796875,
                        "z": 365.69036865234375
                    },
                    "rotation": {
                        "roll": -0.00308228749781847,
                        "pitch": -0.4251929223537445,
                        "yaw": 88.42041015625
                    }
                },
                "velocity": {
                    "x": 0.24965021014213562,
                    "y": 8.826220512390137,
                    "z": -0.07148277014493942
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.7838454246521,
                "transform": {
                    "location": {
                        "x": 214.93975830078125,
                        "y": 5566.4521484375,
                        "z": 365.5220642089844
                    },
                    "rotation": {
                        "roll": 0.0007139106746762991,
                        "pitch": -0.45559409260749817,
                        "yaw": 88.28114318847656
                    }
                },
                "velocity": {
                    "x": 0.14349614083766937,
                    "y": 4.781546592712402,
                    "z": -0.03738994151353836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.636452882143203e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00909423828125,
                        "pitch": -0.8072190284729004,
                        "yaw": 0.46903926134109497
                    }
                },
                "velocity": {
                    "x": 2.5831906896200962e-05,
                    "y": 1.3327170336197014e-06,
                    "z": -5.101453098177444e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003059757291339338,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.043666401936207e-05,
                    "y": 1.124888626691245e-06,
                    "z": -0.000304456043522805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.514374732971191,
                "transform": {
                    "location": {
                        "x": 214.33523559570312,
                        "y": 5615.3857421875,
                        "z": 365.1680908203125
                    },
                    "rotation": {
                        "roll": -0.1759032905101776,
                        "pitch": -0.41116371750831604,
                        "yaw": 95.42902374267578
                    }
                },
                "velocity": {
                    "x": -1.390282392501831,
                    "y": 14.447260856628418,
                    "z": -0.10409823805093765
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00041567906737327576,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.4168044546968304e-05,
                    "y": -4.949279173160903e-06,
                    "z": 0.0004149463784415275
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00046915916027501225,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.6339439749717712,
                        "yaw": -0.018127435818314552
                    }
                },
                "velocity": {
                    "x": 3.158651088597253e-05,
                    "y": -5.279425295157125e-06,
                    "z": 0.0004680648853536695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00031995191238820553,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.743556979112327e-05,
                    "y": 1.7612581359571777e-05,
                    "z": 0.0003182865330018103
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00037625106051564217,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -3.465361805865541e-05,
                    "y": -3.007791019626893e-05,
                    "z": 0.0003734425117727369
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019849598174914718,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.13730046153068542,
                        "yaw": -0.0453796349465847
                    }
                },
                "velocity": {
                    "x": 4.368312602309743e-06,
                    "y": 8.51930417411495e-06,
                    "z": -0.00019826495554298162
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.549553942633793e-05,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": -0.22033506631851196,
                        "yaw": -0.2486877590417862
                    }
                },
                "velocity": {
                    "x": -1.3470742487697862e-05,
                    "y": -2.025512912950944e-05,
                    "z": -9.234536992153153e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00024368542653974146,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.923732452269178e-05,
                    "y": -2.2608544895774685e-05,
                    "z": -0.00024187055532820523
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017552835925016552,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -7.615089089085814e-06,
                    "y": -7.044302492431598e-07,
                    "z": -0.0001753616816131398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011827311245724559,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -2.7552246137929615e-06,
                    "y": 1.7281174223171547e-05,
                    "z": 0.0011826016707345843
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3223084211349487,
                "transform": {
                    "location": {
                        "x": 217.27952575683594,
                        "y": 5614.0615234375,
                        "z": 365.1776123046875
                    },
                    "rotation": {
                        "roll": 0.003653679508715868,
                        "pitch": 0.5050856471061707,
                        "yaw": -84.49105072021484
                    }
                },
                "velocity": {
                    "x": 0.12451781332492828,
                    "y": -1.316406488418579,
                    "z": 0.008294191211462021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0691168308258057,
                "transform": {
                    "location": {
                        "x": 218.01866149902344,
                        "y": 5602.2802734375,
                        "z": 365.2568359375
                    },
                    "rotation": {
                        "roll": 0.027134397998452187,
                        "pitch": 0.4760231673717499,
                        "yaw": -87.50830078125
                    }
                },
                "velocity": {
                    "x": 0.1044597327709198,
                    "y": -3.0672621726989746,
                    "z": 0.021650876849889755
                },
                "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": 0.9502465128898621,
        "expert_target_speed": 10.0,
        "target_point": [
            45.3426807095499,
            -33.92334535812011
        ],
        "target_point_next": [
            46.10409306624656,
            -34.57161781899911
        ]
    },
    "615": {
        "acceleration": [
            -0.22930145263671875,
            1.8272972106933594,
            0.2259036898612976
        ],
        "angular_velocity": [
            1.2352896928787231,
            0.6187667846679688,
            -21.649799346923828
        ],
        "forward_vector": [
            -0.8236083984375,
            -0.5670768022537231,
            0.009647696278989315
        ],
        "right_vector": [
            0.5669688582420349,
            -0.8236536383628845,
            -0.011875392869114876
        ],
        "location": [
            213.16311645507812,
            5583.080078125,
            365.4024963378906
        ],
        "rotation": [
            0.680457592010498,
            0.5527808666229248,
            -145.45152282714844
        ],
        "velocity": [
            -4.263343334197998,
            -2.2936203479766846,
            0.05211959779262543
        ],
        "speed": 4.841155924560083,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.093107223510742,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.ford.mustang",
            "location": [
                204.0812530517578,
                5583.529296875,
                365.4530334472656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.372401237487793,
                "transform": {
                    "location": {
                        "x": 214.40725708007812,
                        "y": 5548.494140625,
                        "z": 365.67303466796875
                    },
                    "rotation": {
                        "roll": -0.0028076001908630133,
                        "pitch": -0.4119286835193634,
                        "yaw": 88.35874938964844
                    }
                },
                "velocity": {
                    "x": 0.2387804388999939,
                    "y": 8.368720054626465,
                    "z": -0.06785669922828674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.50230073928833,
                "transform": {
                    "location": {
                        "x": 214.9744415283203,
                        "y": 5567.60595703125,
                        "z": 365.51324462890625
                    },
                    "rotation": {
                        "roll": 0.0012194409500807524,
                        "pitch": -0.45734262466430664,
                        "yaw": 88.276123046875
                    }
                },
                "velocity": {
                    "x": 0.1354626566171646,
                    "y": 4.500110149383545,
                    "z": -0.036971185356378555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00013242977729532868,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00909423828125,
                        "pitch": -0.8072190284729004,
                        "yaw": 0.46903926134109497
                    }
                },
                "velocity": {
                    "x": 4.854157305089757e-05,
                    "y": 5.8413923397893086e-05,
                    "z": 0.00010848581587197259
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002873327466659248,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.300128289789427e-05,
                    "y": -2.5097946490859613e-05,
                    "z": -0.00028530883719213307
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.515212059020996,
                "transform": {
                    "location": {
                        "x": 213.96421813964844,
                        "y": 5618.9951171875,
                        "z": 365.1419372558594
                    },
                    "rotation": {
                        "roll": -0.1347656100988388,
                        "pitch": -0.4164707660675049,
                        "yaw": 96.23342895507812
                    }
                },
                "velocity": {
                    "x": -1.5554592609405518,
                    "y": 14.431262016296387,
                    "z": -0.10302689671516418
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00027361148386262357,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.2930204067961313e-05,
                    "y": 2.5925319278030656e-06,
                    "z": 0.0002726366219576448
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013341287558432668,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.6339439749717712,
                        "yaw": -0.018127435818314552
                    }
                },
                "velocity": {
                    "x": 1.5022233128547668e-05,
                    "y": 2.7590294848778285e-05,
                    "z": -0.0001296614937018603
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00022867030929774046,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.241454967588652e-05,
                    "y": 6.8769932113355026e-06,
                    "z": 0.00022746517788618803
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012072802928742021,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.535194107622374e-05,
                    "y": 4.452801931620343e-06,
                    "z": 0.00011795214959420264
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00023531742044724524,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.001617431640625,
                        "pitch": -0.13732095062732697,
                        "yaw": -0.0454101487994194
                    }
                },
                "velocity": {
                    "x": 9.82014444161905e-06,
                    "y": 3.0469647754216567e-05,
                    "z": 0.0002331297000637278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00012363516725599766,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0017089842585846782,
                        "pitch": -0.22051946818828583,
                        "yaw": -0.2487182766199112
                    }
                },
                "velocity": {
                    "x": 6.877071882627206e-06,
                    "y": 7.466221723007038e-05,
                    "z": 9.830520139075816e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005941304843872786,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.443654309696285e-05,
                    "y": 2.4659064365550876e-05,
                    "z": 0.0005934429937042296
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003044996119569987,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -1.5403888937726151e-06,
                    "y": -1.9851588149322197e-05,
                    "z": -0.0003038479189854115
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013389223022386432,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": 8.347183211299125e-06,
                    "y": 4.2816191125893965e-05,
                    "z": 0.001338211470283568
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2106759548187256,
                "transform": {
                    "location": {
                        "x": 217.3181915283203,
                        "y": 5613.60986328125,
                        "z": 365.1808166503906
                    },
                    "rotation": {
                        "roll": 0.013989298604428768,
                        "pitch": 0.5383486747741699,
                        "yaw": -84.6865463256836
                    }
                },
                "velocity": {
                    "x": 0.17895367741584778,
                    "y": -2.203366279602051,
                    "z": 0.015520524233579636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1024134159088135,
                "transform": {
                    "location": {
                        "x": 218.04437255859375,
                        "y": 5601.544921875,
                        "z": 365.2623291015625
                    },
                    "rotation": {
                        "roll": 0.013461652211844921,
                        "pitch": 0.3896486163139343,
                        "yaw": -87.71807861328125
                    }
                },
                "velocity": {
                    "x": 0.10401389002799988,
                    "y": -3.1005918979644775,
                    "z": 0.021930741146206856
                },
                "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": 0.9997590184211731,
        "expert_target_speed": 10.0,
        "target_point": [
            47.27425806009239,
            -29.169923673478266
        ],
        "target_point_next": [
            48.09652005967561,
            -29.739038042042168
        ]
    },
    "620": {
        "acceleration": [
            0.07485389709472656,
            1.9489741325378418,
            0.1043296605348587
        ],
        "angular_velocity": [
            0.06983210891485214,
            0.2101665735244751,
            -20.76750946044922
        ],
        "forward_vector": [
            -0.8725614547729492,
            -0.48841649293899536,
            0.009264335967600346
        ],
        "right_vector": [
            0.48824816942214966,
            -0.8725610971450806,
            -0.015835987403988838
        ],
        "location": [
            212.1044464111328,
            5582.55419921875,
            365.4153137207031
        ],
        "rotation": [
            0.9074121117591858,
            0.5308149456977844,
            -150.76206970214844
        ],
        "velocity": [
            -4.271272659301758,
            -1.8080408573150635,
            0.05124123394489288
        ],
        "speed": 4.638187347641242,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.2051152872388147,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.082318305969238,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.ford.mustang",
            "location": [
                204.0812530517578,
                5583.529296875,
                365.4530334472656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9622602462768555,
                "transform": {
                    "location": {
                        "x": 214.4667205810547,
                        "y": 5550.53173828125,
                        "z": 365.6567077636719
                    },
                    "rotation": {
                        "roll": -0.0033264292869716883,
                        "pitch": -0.41539841890335083,
                        "yaw": 88.36371612548828
                    }
                },
                "velocity": {
                    "x": 0.23046031594276428,
                    "y": 7.958662986755371,
                    "z": -0.06449227780103683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.116369247436523,
                "transform": {
                    "location": {
                        "x": 215.00726318359375,
                        "y": 5568.69873046875,
                        "z": 365.5046081542969
                    },
                    "rotation": {
                        "roll": 0.00041219915146939456,
                        "pitch": -0.45962390303611755,
                        "yaw": 88.27658081054688
                    }
                },
                "velocity": {
                    "x": 0.12362150847911835,
                    "y": 4.11438512802124,
                    "z": -0.03235791623592377
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0859780963510275e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00909423828125,
                        "pitch": -0.8072190284729004,
                        "yaw": 0.46903926134109497
                    }
                },
                "velocity": {
                    "x": 2.57593383139465e-05,
                    "y": 1.184221309813438e-05,
                    "z": -1.2187888387416024e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.039762254455127e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.61145833064802e-05,
                    "y": -2.083051913359668e-05,
                    "z": 3.7736434023827314e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.514810562133789,
                "transform": {
                    "location": {
                        "x": 213.534912109375,
                        "y": 5622.59716796875,
                        "z": 365.1155700683594
                    },
                    "rotation": {
                        "roll": -0.16293330490589142,
                        "pitch": -0.42078059911727905,
                        "yaw": 97.25011444091797
                    }
                },
                "velocity": {
                    "x": -1.81337308883667,
                    "y": 14.400699615478516,
                    "z": -0.10609740763902664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.400168498046696e-05,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 1.8861517673940398e-05,
                    "y": 3.3781455499592994e-07,
                    "z": 2.8288577595958486e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008265770738944411,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.6339439749717712,
                        "yaw": -0.018127435818314552
                    }
                },
                "velocity": {
                    "x": 2.955339732579887e-05,
                    "y": 3.25146502291318e-05,
                    "z": 0.0008254083804786205
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000625916407443583,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -1.9178314687451348e-05,
                    "y": 1.0532941814744845e-05,
                    "z": 0.0006255338084883988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00039216235745698214,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.928756111941766e-05,
                    "y": -1.4396686310647056e-05,
                    "z": 0.0003908021026290953
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00033126998459920287,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.1372116655111313,
                        "yaw": -0.0454101487994194
                    }
                },
                "velocity": {
                    "x": 1.2691541996900924e-05,
                    "y": -3.301721517345868e-05,
                    "z": 0.0003293760528322309
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003049320075660944,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -0.22051946818828583,
                        "yaw": -0.2487182766199112
                    }
                },
                "velocity": {
                    "x": -7.212981472548563e-06,
                    "y": 0.00015384433208964765,
                    "z": 0.00026317944866605103
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.2620911699486896e-05,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.3929829037806485e-05,
                    "y": 3.2044829367805505e-06,
                    "z": 4.0152623114408925e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.750487515702844e-05,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -1.8328428268432617e-06,
                    "y": 2.805685107887257e-05,
                    "z": -9.336302173323929e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011351662687957287,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.3994686014484614e-05,
                    "y": -2.6856094336835667e-05,
                    "z": 0.0011347621912136674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017331917770206928,
                "transform": {
                    "location": {
                        "x": 217.34640502929688,
                        "y": 5613.2548828125,
                        "z": 365.18280029296875
                    },
                    "rotation": {
                        "roll": -0.0034484881907701492,
                        "pitch": 0.13833864033222198,
                        "yaw": -84.86813354492188
                    }
                },
                "velocity": {
                    "x": 5.3420466429088265e-05,
                    "y": -0.0014841860393062234,
                    "z": 0.0008934717625379562
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.049807548522949,
                "transform": {
                    "location": {
                        "x": 218.07554626464844,
                        "y": 5600.62939453125,
                        "z": 365.2677307128906
                    },
                    "rotation": {
                        "roll": 0.013075347058475018,
                        "pitch": 0.6712163090705872,
                        "yaw": -87.89116668701172
                    }
                },
                "velocity": {
                    "x": 0.13300302624702454,
                    "y": -4.0475287437438965,
                    "z": 0.02760453149676323
                },
                "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": 0.9993593096733093,
        "expert_target_speed": 10.0,
        "target_point": [
            48.59048104874493,
            -24.611082045642064
        ],
        "target_point_next": [
            49.46188743741232,
            -25.101649947419318
        ]
    },
    "625": {
        "acceleration": [
            0.07849693298339844,
            1.1124181747436523,
            -0.00449158251285553
        ],
        "angular_velocity": [
            -0.44721534848213196,
            0.2913666367530823,
            -15.521194458007812
        ],
        "forward_vector": [
            -0.9076956510543823,
            -0.41948890686035156,
            0.010845687240362167
        ],
        "right_vector": [
            0.4193437397480011,
            -0.907728374004364,
            -0.013416477479040623
        ],
        "location": [
            211.04991149902344,
            5582.126953125,
            365.4291687011719
        ],
        "rotation": [
            0.7687758207321167,
            0.6214242577552795,
            -155.1961212158203
        ],
        "velocity": [
            -4.232734203338623,
            -1.5243089199066162,
            0.0567445270717144
        ],
        "speed": 4.498839463619426,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.223510665872224,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.108399391174316,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.ford.mustang",
            "location": [
                204.0812530517578,
                5583.529296875,
                365.4530334472656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.4900994300842285,
                "transform": {
                    "location": {
                        "x": 214.52304077148438,
                        "y": 5552.47998046875,
                        "z": 365.6412048339844
                    },
                    "rotation": {
                        "roll": -0.0009765836875885725,
                        "pitch": -0.4244416058063507,
                        "yaw": 88.28720092773438
                    }
                },
                "velocity": {
                    "x": 0.21778184175491333,
                    "y": 7.486688613891602,
                    "z": -0.06044996902346611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.465715169906616,
                "transform": {
                    "location": {
                        "x": 215.03428649902344,
                        "y": 5569.60546875,
                        "z": 365.49755859375
                    },
                    "rotation": {
                        "roll": 0.020970560610294342,
                        "pitch": -0.46193933486938477,
                        "yaw": 88.282470703125
                    }
                },
                "velocity": {
                    "x": 0.10335130244493484,
                    "y": 3.4640820026397705,
                    "z": -0.025204619392752647
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1725858459831215e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00909423828125,
                        "pitch": -0.8072190284729004,
                        "yaw": 0.46903926134109497
                    }
                },
                "velocity": {
                    "x": 2.1566003852058202e-05,
                    "y": 2.519213012419641e-06,
                    "z": 7.576262532893452e-07
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002547497279010713,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.4227967262268066e-05,
                    "y": -5.064840297563933e-05,
                    "z": -0.00024730671430006623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.514321327209473,
                "transform": {
                    "location": {
                        "x": 213.0528106689453,
                        "y": 5626.19384765625,
                        "z": 365.0887451171875
                    },
                    "rotation": {
                        "roll": -0.1793212890625,
                        "pitch": -0.4281913638114929,
                        "yaw": 98.1249771118164
                    }
                },
                "velocity": {
                    "x": -2.0527539253234863,
                    "y": 14.368022918701172,
                    "z": -0.10798483341932297
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004417414893396199,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.3466347556677647e-05,
                    "y": 2.3061470528773498e-06,
                    "z": 0.00044111174065619707
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008002712274901569,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.6336639523506165,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 3.3263488148804754e-05,
                    "y": -2.836011162798968e-06,
                    "z": 0.0007995745399966836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.495205161627382e-05,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.6307403459213674e-05,
                    "y": 5.048043021815829e-05,
                    "z": 3.127963645965792e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002962722210213542,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.2654458007309586e-05,
                    "y": -1.4725937035109382e-05,
                    "z": 0.0002950375492218882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00048070523189380765,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.1372116655111313,
                        "yaw": -0.0454101487994194
                    }
                },
                "velocity": {
                    "x": 4.342570719018113e-06,
                    "y": 1.2086744618500234e-06,
                    "z": 0.00048068410251289606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.971285231178626e-05,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -0.22051946818828583,
                        "yaw": -0.2487182766199112
                    }
                },
                "velocity": {
                    "x": -9.081772986974102e-06,
                    "y": 2.951035185105866e-06,
                    "z": 7.913881563581526e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00043717832886613905,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.1432393876020797e-05,
                    "y": -5.3432962886290625e-05,
                    "z": 0.0004337500431574881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00038264921749942005,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -6.8980452851974405e-06,
                    "y": 2.315181518497411e-05,
                    "z": -0.0003818859113380313
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00044370326213538647,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -3.4130585845559835e-05,
                    "y": 9.434443927602842e-05,
                    "z": -0.0004322115273680538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2358530759811401,
                "transform": {
                    "location": {
                        "x": 217.36148071289062,
                        "y": 5613.06591796875,
                        "z": 365.1846008300781
                    },
                    "rotation": {
                        "roll": 0.003891069907695055,
                        "pitch": 0.4434431791305542,
                        "yaw": -84.97087860107422
                    }
                },
                "velocity": {
                    "x": 0.09877792745828629,
                    "y": -1.2318813800811768,
                    "z": 0.0066419122740626335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3905484676361084,
                "transform": {
                    "location": {
                        "x": 218.1063232421875,
                        "y": 5599.6962890625,
                        "z": 365.2752685546875
                    },
                    "rotation": {
                        "roll": 0.008036535233259201,
                        "pitch": 0.36651477217674255,
                        "yaw": -88.0050048828125
                    }
                },
                "velocity": {
                    "x": 0.10924163460731506,
                    "y": -3.3886959552764893,
                    "z": 0.02501974068582058
                },
                "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": 0.8665562868118286,
        "expert_target_speed": 10.0,
        "target_point": [
            49.211271103018944,
            -20.726279665768956
        ],
        "target_point_next": [
            50.117995716877125,
            -21.148009952905415
        ]
    },
    "630": {
        "acceleration": [
            0.07178306579589844,
            1.2466907501220703,
            -0.11003799736499786
        ],
        "angular_velocity": [
            -0.5473132133483887,
            -0.9810786247253418,
            -15.148550987243652
        ],
        "forward_vector": [
            -0.9336665272712708,
            -0.35796865820884705,
            0.011194232851266861
        ],
        "right_vector": [
            0.3578599691390991,
            -0.9337149858474731,
            -0.010612884536385536
        ],
        "location": [
            209.99749755859375,
            5581.7724609375,
            365.441162109375
        ],
        "rotation": [
            0.6081230044364929,
            0.6413956880569458,
            -159.02313232421875
        ],
        "velocity": [
            -4.232306957244873,
            -1.2077114582061768,
            0.035092487931251526
        ],
        "speed": 4.401248589505692,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.2417178222025504,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.48162078857422,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.105545997619629,
                "transform": {
                    "location": {
                        "x": 214.573974609375,
                        "y": 5554.12109375,
                        "z": 365.62738037109375
                    },
                    "rotation": {
                        "roll": -0.0030822702683508396,
                        "pitch": -0.33960381150245667,
                        "yaw": 88.67308807373047
                    }
                },
                "velocity": {
                    "x": 0.17846420407295227,
                    "y": 6.102741718292236,
                    "z": -0.04884584620594978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0444793701171875,
                "transform": {
                    "location": {
                        "x": 215.06100463867188,
                        "y": 5570.53857421875,
                        "z": 365.49053955078125
                    },
                    "rotation": {
                        "roll": 0.018531786277890205,
                        "pitch": -0.42010441422462463,
                        "yaw": 88.31681060791016
                    }
                },
                "velocity": {
                    "x": 0.11307493597269058,
                    "y": 4.042799472808838,
                    "z": -0.028298066928982735
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.1366223740624264e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00909423828125,
                        "pitch": -0.8072190284729004,
                        "yaw": 0.46903926134109497
                    }
                },
                "velocity": {
                    "x": 2.6397556212032214e-05,
                    "y": 6.6960333242604975e-06,
                    "z": -3.113674029009417e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004190612817183137,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.8097181711927988e-05,
                    "y": -3.7829356642760104e-06,
                    "z": -0.0004181011754553765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4459,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.514251708984375,
                "transform": {
                    "location": {
                        "x": 212.51632690429688,
                        "y": 5629.7822265625,
                        "z": 365.0615539550781
                    },
                    "rotation": {
                        "roll": -0.1672668159008026,
                        "pitch": -0.43053412437438965,
                        "yaw": 98.88967895507812
                    }
                },
                "velocity": {
                    "x": -2.2690250873565674,
                    "y": 14.335390090942383,
                    "z": -0.10779524594545364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001631904160603881,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.1389721950981766e-05,
                    "y": -5.524385642274865e-07,
                    "z": 0.0001617816014913842
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012087367940694094,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.6336639523506165,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 4.549018922261894e-05,
                    "y": -1.3402604963630438e-05,
                    "z": 0.0012078061699867249
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.963506843429059e-05,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.3919716113596223e-05,
                    "y": -1.468430673412513e-05,
                    "z": 8.512733620591462e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.830269896658137e-05,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.9131993869668804e-05,
                    "y": 2.1760957679362036e-05,
                    "z": 6.934768316568807e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005817234050482512,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.1372116655111313,
                        "yaw": -0.0454101487994194
                    }
                },
                "velocity": {
                    "x": 5.76898446524865e-06,
                    "y": -1.3826303074893076e-05,
                    "z": 0.000581530446652323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00019970284483861178,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -0.22051946818828583,
                        "yaw": -0.2487182766199112
                    }
                },
                "velocity": {
                    "x": -2.2169871954247355e-05,
                    "y": 7.05862621543929e-05,
                    "z": -0.00018549207015894353
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002321330102859065,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -1.2410058843670413e-05,
                    "y": -2.3172322471509688e-05,
                    "z": 0.0002306399110238999
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014242285396903753,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -8.083097782218829e-06,
                    "y": 4.1735875129234046e-06,
                    "z": -0.00014213203394319862
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005678612506017089,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -4.126610292587429e-05,
                    "y": 1.3945999853604008e-05,
                    "z": 0.0005661881295964122
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2644896507263184,
                "transform": {
                    "location": {
                        "x": 217.396240234375,
                        "y": 5612.62109375,
                        "z": 365.1878356933594
                    },
                    "rotation": {
                        "roll": 0.006164868362247944,
                        "pitch": 0.5419891476631165,
                        "yaw": -85.16539764404297
                    }
                },
                "velocity": {
                    "x": 0.17662878334522247,
                    "y": -2.2575395107269287,
                    "z": 0.015187396667897701
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.048755168914795,
                "transform": {
                    "location": {
                        "x": 218.1356201171875,
                        "y": 5598.7919921875,
                        "z": 365.28125
                    },
                    "rotation": {
                        "roll": 0.008761188015341759,
                        "pitch": 0.5124895572662354,
                        "yaw": -88.07503509521484
                    }
                },
                "velocity": {
                    "x": 0.1297006607055664,
                    "y": -4.046586036682129,
                    "z": 0.02713773585855961
                },
                "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": 0.6914737224578857,
        "expert_target_speed": 10.0,
        "target_point": [
            49.375333969133635,
            -17.34971164586458
        ],
        "target_point_next": [
            50.30818494104149,
            -17.709982411643686
        ]
    },
    "635": {
        "acceleration": [
            -0.02422332763671875,
            1.0284686088562012,
            0.00439472496509552
        ],
        "angular_velocity": [
            0.2091129720211029,
            -1.3163437843322754,
            -13.825263023376465
        ],
        "forward_vector": [
            -0.9540103077888489,
            -0.2997182011604309,
            0.005775181110948324
        ],
        "right_vector": [
            0.299663245677948,
            -0.9540046453475952,
            -0.008784334175288677
        ],
        "location": [
            208.95187377929688,
            5581.48974609375,
            365.44830322265625
        ],
        "rotation": [
            0.5033200979232788,
            0.330895334482193,
            -162.55902099609375
        ],
        "velocity": [
            -4.208423137664795,
            -0.958276629447937,
            0.02152854949235916
        ],
        "speed": 4.316146360375016,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.249681304670368,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 93.43236541748047,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.3421173095703125,
                "transform": {
                    "location": {
                        "x": 214.61734008789062,
                        "y": 5555.65869140625,
                        "z": 365.6160888671875
                    },
                    "rotation": {
                        "roll": -0.0033569822553545237,
                        "pitch": -0.45218580961227417,
                        "yaw": 88.43851470947266
                    }
                },
                "velocity": {
                    "x": 0.18909387290477753,
                    "y": 6.339103698730469,
                    "z": -0.049617961049079895
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.797780513763428,
                "transform": {
                    "location": {
                        "x": 215.09234619140625,
                        "y": 5571.6455078125,
                        "z": 365.482177734375
                    },
                    "rotation": {
                        "roll": 0.02690146304666996,
                        "pitch": -0.3921211361885071,
                        "yaw": 88.35913848876953
                    }
                },
                "velocity": {
                    "x": 0.13320088386535645,
                    "y": 4.795790195465088,
                    "z": -0.03681013360619545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5144321625703014e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00909423828125,
                        "pitch": -0.8072190284729004,
                        "yaw": 0.46903926134109497
                    }
                },
                "velocity": {
                    "x": 2.4906992621254176e-05,
                    "y": -2.0913819298584713e-06,
                    "z": -2.7394712560635526e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007223730208352208,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.458989547449164e-05,
                    "y": 2.3137437892728485e-05,
                    "z": -0.0007215834921225905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00048256682930514216,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.5961324354284443e-05,
                    "y": 4.128459636376647e-07,
                    "z": 0.00048186781350523233
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006276543717831373,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.6336639523506165,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 3.3226533560082316e-05,
                    "y": 4.776549758389592e-06,
                    "z": 0.0006267561111599207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00047804712085053325,
                "transform": {
                    "location": {
                        "x": 250.98062133789062,
                        "y": 5576.7333984375,
                        "z": 365.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.6570778489112854,
                        "yaw": -179.9444122314453
                    }
                },
                "velocity": {
                    "x": -2.229221172456164e-05,
                    "y": -1.1183363312738948e-05,
                    "z": 0.00047739609726704657
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4454,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028654356719926,
                "transform": {
                    "location": {
                        "x": 250.60662841796875,
                        "y": 5579.9833984375,
                        "z": 365.6392517089844
                    },
                    "rotation": {
                        "roll": -3.051753628824372e-05,
                        "pitch": -0.6400774717330933,
                        "yaw": 179.91030883789062
                    }
                },
                "velocity": {
                    "x": -2.6983991119777784e-05,
                    "y": 8.133280971378554e-06,
                    "z": 0.00028515420854091644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1436774811008945e-05,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.1372116655111313,
                        "yaw": -0.0454101487994194
                    }
                },
                "velocity": {
                    "x": 3.951843609684147e-06,
                    "y": -7.172671303123934e-06,
                    "z": 5.078067988506518e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.0796650864649564e-05,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -0.22051946818828583,
                        "yaw": -0.2487182766199112
                    }
                },
                "velocity": {
                    "x": -1.476753459428437e-05,
                    "y": 3.521257531247102e-05,
                    "z": 1.4365281458594836e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4450,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002517675457056612,
                "transform": {
                    "location": {
                        "x": 241.0126495361328,
                        "y": 5576.74560546875,
                        "z": 365.5346374511719
                    },
                    "rotation": {
                        "roll": 0.0016825598431751132,
                        "pitch": -0.4525136649608612,
                        "yaw": 179.7038116455078
                    }
                },
                "velocity": {
                    "x": -8.330419404956046e-06,
                    "y": -2.0914943888783455e-05,
                    "z": 0.00025075898156501353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4449,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 240.52452087402344,
                        "y": 5579.998046875,
                        "z": 365.5765686035156
                    },
                    "rotation": {
                        "roll": -0.0016784671461209655,
                        "pitch": -0.4551364481449127,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": 2.7312917154631577e-06,
                        "pitch": 0.0355374738574028,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.034950077533721924,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4445,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023486973077524453,
                "transform": {
                    "location": {
                        "x": 231.0567169189453,
                        "y": 5576.7451171875,
                        "z": 365.4938659667969
                    },
                    "rotation": {
                        "roll": 0.006440219935029745,
                        "pitch": -0.2286405712366104,
                        "yaw": 177.72596740722656
                    }
                },
                "velocity": {
                    "x": -1.0124575055669993e-05,
                    "y": -2.5414810806978494e-05,
                    "z": -0.0002332710282644257
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4444,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.720071592601016e-05,
                "transform": {
                    "location": {
                        "x": 230.5367889404297,
                        "y": 5580.0224609375,
                        "z": 365.4884033203125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -0.21788984537124634,
                        "yaw": -179.7367706298828
                    }
                },
                "velocity": {
                    "x": -1.9085817257291637e-05,
                    "y": 2.3250946469488554e-05,
                    "z": -3.6373516195453703e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4436,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6792261600494385,
                "transform": {
                    "location": {
                        "x": 217.43414306640625,
                        "y": 5612.12158203125,
                        "z": 365.1910705566406
                    },
                    "rotation": {
                        "roll": 0.0015872393269091845,
                        "pitch": 0.3756672143936157,
                        "yaw": -85.45604705810547
                    }
                },
                "velocity": {
                    "x": 0.12653577327728271,
                    "y": -1.674399733543396,
                    "z": 0.013219527900218964
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4435,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5843870639801025,
                "transform": {
                    "location": {
                        "x": 218.1571044921875,
                        "y": 5597.81884765625,
                        "z": 365.28851318359375
                    },
                    "rotation": {
                        "roll": 0.039450835436582565,
                        "pitch": 0.38430055975914,
                        "yaw": -88.44255828857422
                    }
                },
                "velocity": {
                    "x": 0.0685088261961937,
                    "y": -3.5836455821990967,
                    "z": 0.024912966415286064
                },
                "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": 0.5172694325447083,
        "expert_target_speed": 10.0,
        "target_point": [
            49.269078651083674,
            -14.227826584495004
        ],
        "target_point_next": [
            50.222373153748435,
            -14.529878817815035
        ]
    },
    "640": {
        "acceleration": [
            -0.35881996154785156,
            0.9976089000701904,
            0.001426897943019867
        ],
        "angular_velocity": [
            0.20447373390197754,
            -1.2046374082565308,
            -13.873147964477539
        ],
        "forward_vector": [
            -0.9704023003578186,
            -0.2414938509464264,
            0.00039899349212646484
        ],
        "right_vector": [
            0.24148209393024445,
            -0.9703689813613892,
            -0.008399260230362415
        ],
        "location": [
            207.8984375,
            5581.27197265625,
            365.455078125
        ],
        "rotation": [
            0.4812479019165039,
            0.02286064252257347,
            -166.0252685546875
        ],
        "velocity": [
            -4.278219699859619,
            -0.7062787413597107,
            0.021954450756311417
        ],
        "speed": 4.336126550363075,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.37667846679688,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.2888102531433105,
                "transform": {
                    "location": {
                        "x": 214.66616821289062,
                        "y": 5557.3203125,
                        "z": 365.6035461425781
                    },
                    "rotation": {
                        "roll": -0.0030517762061208487,
                        "pitch": -0.5134935975074768,
                        "yaw": 88.38980102539062
                    }
                },
                "velocity": {
                    "x": 0.21631868183612823,
                    "y": 7.285372734069824,
                    "z": -0.05748707056045532
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.346527576446533,
                "transform": {
                    "location": {
                        "x": 215.12811279296875,
                        "y": 5572.9287109375,
                        "z": 365.4730529785156
                    },
                    "rotation": {
                        "roll": 0.047562263906002045,
                        "pitch": -0.39029064774513245,
                        "yaw": 88.38892364501953
                    }
                },
                "velocity": {
                    "x": 0.1474066823720932,
                    "y": 5.344399452209473,
                    "z": -0.031974099576473236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00025207430007867515,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00909423828125,
                        "pitch": -0.8072190284729004,
                        "yaw": 0.46903926134109497
                    }
                },
                "velocity": {
                    "x": 2.6089399398188107e-05,
                    "y": -1.3076569302938879e-05,
                    "z": 0.000250379292992875
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014785821258556098,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.590537042124197e-05,
                    "y": -7.370065304712625e-06,
                    "z": -0.00014538447430822998
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00024266491527669132,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.2270827685133554e-05,
                    "y": 4.01744136979687e-06,
                    "z": 0.0002416073839413002
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00026118496316485107,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.6336639523506165,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 3.2495259802090004e-05,
                    "y": 2.2949179765419103e-05,
                    "z": 0.00025813753018155694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005105338641442358,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.1372116655111313,
                        "yaw": -0.0454101487994194
                    }
                },
                "velocity": {
                    "x": -3.816503976850072e-06,
                    "y": 1.1958150935242884e-05,
                    "z": 0.0005103794974274933
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006769124302081764,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -0.22051946818828583,
                        "yaw": -0.2487182766199112
                    }
                },
                "velocity": {
                    "x": 3.6141107557341456e-05,
                    "y": 5.38455497007817e-05,
                    "z": 0.0006737988442182541
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009196004830300808,
                "transform": {
                    "location": {
                        "x": 204.0812530517578,
                        "y": 5583.529296875,
                        "z": 365.4528503417969
                    },
                    "rotation": {
                        "roll": 5.945493103354238e-05,
                        "pitch": 0.03654833883047104,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 7.003405926298001e-07,
                    "y": 6.737134754075669e-06,
                    "z": -0.0009195755119435489
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011863427935168147,
                "transform": {
                    "location": {
                        "x": 203.00125122070312,
                        "y": 5586.78857421875,
                        "z": 365.45623779296875
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.03572871908545494,
                        "yaw": -0.1543273776769638
                    }
                },
                "velocity": {
                    "x": -4.365750646684319e-05,
                    "y": 1.0864119758480228e-05,
                    "z": -0.0011854894692078233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.4633587598800659,
        "expert_target_speed": 10.0,
        "target_point": [
            48.96431760509569,
            -11.179899897759256
        ],
        "target_point_next": [
            49.93413034356035,
            -11.4237630002905
        ]
    },
    "645": {
        "acceleration": [
            -0.4120922088623047,
            0.8302044868469238,
            -0.048040393739938736
        ],
        "angular_velocity": [
            -0.10842101275920868,
            0.16076666116714478,
            -12.404929161071777
        ],
        "forward_vector": [
            -0.9823286533355713,
            -0.18715983629226685,
            -0.0012655253522098064
        ],
        "right_vector": [
            0.1871640533208847,
            -0.9823113679885864,
            -0.005830388516187668
        ],
        "location": [
            206.82156372070312,
            5581.107421875,
            365.4571838378906
        ],
        "rotation": [
            0.33405882120132446,
            -0.0725092813372612,
            -169.21290588378906
        ],
        "velocity": [
            -4.371126174926758,
            -0.5136540532112122,
            -0.005204057786613703
        ],
        "speed": 4.4012026224101675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 91.2984848022461,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.181563377380371,
                "transform": {
                    "location": {
                        "x": 214.7215576171875,
                        "y": 5559.18408203125,
                        "z": 365.58843994140625
                    },
                    "rotation": {
                        "roll": -0.002014144090935588,
                        "pitch": -0.46167296171188354,
                        "yaw": 88.32296752929688
                    }
                },
                "velocity": {
                    "x": 0.21606847643852234,
                    "y": 7.1780877113342285,
                    "z": -0.05680551379919052
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.943449974060059,
                "transform": {
                    "location": {
                        "x": 215.16757202148438,
                        "y": 5574.36181640625,
                        "z": 365.4655456542969
                    },
                    "rotation": {
                        "roll": -0.05841062590479851,
                        "pitch": -0.27910882234573364,
                        "yaw": 88.4141616821289
                    }
                },
                "velocity": {
                    "x": 0.16653020679950714,
                    "y": 5.941047668457031,
                    "z": -0.028643935918807983
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.33788302668836e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008575439453125,
                        "pitch": -0.8072463274002075,
                        "yaw": 0.46868911385536194
                    }
                },
                "velocity": {
                    "x": 1.949951001734007e-05,
                    "y": -1.3478875189321116e-05,
                    "z": 2.3499689632444642e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.764612822327763e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.308966552140191e-05,
                    "y": 1.7359530829708092e-05,
                    "z": -2.95613644993864e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001584214041940868,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.1124109480297193e-05,
                    "y": -5.07547838424216e-06,
                    "z": 0.00015692466695327312
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007332101231440902,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.6336639523506165,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 1.7766578821465373e-05,
                    "y": -1.0202506018686108e-05,
                    "z": 0.0007329238578677177
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012569969112519175,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.1372116655111313,
                        "yaw": -0.0454101487994194
                    }
                },
                "velocity": {
                    "x": -5.408785909821745e-06,
                    "y": 2.18122386286268e-06,
                    "z": -0.00012556432920973748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00045340790529735386,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -0.22051946818828583,
                        "yaw": -0.2487182766199112
                    }
                },
                "velocity": {
                    "x": 2.1624546207021922e-05,
                    "y": 7.472842116840184e-05,
                    "z": 0.00044668419286608696
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5086181163787842,
                "transform": {
                    "location": {
                        "x": 204.13241577148438,
                        "y": 5583.52880859375,
                        "z": 365.452880859375
                    },
                    "rotation": {
                        "roll": 0.0004366784414742142,
                        "pitch": 0.04581690579652786,
                        "yaw": -0.3463439643383026
                    }
                },
                "velocity": {
                    "x": 0.5085934996604919,
                    "y": -0.004770609084516764,
                    "z": 0.0015174293657764792
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4756966829299927,
                "transform": {
                    "location": {
                        "x": 203.0485076904297,
                        "y": 5586.78857421875,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": 0.0010805565398186445,
                        "pitch": 0.09386728703975677,
                        "yaw": -0.1436156928539276
                    }
                },
                "velocity": {
                    "x": 0.4756868779659271,
                    "y": -0.0026177982799708843,
                    "z": 0.0015748214209452271
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.4566486179828644,
        "expert_target_speed": 10.0,
        "target_point": [
            48.42158921990922,
            -8.399974099624846
        ],
        "target_point_next": [
            49.40346175855682,
            -8.589532212915165
        ]
    },
    "650": {
        "acceleration": [
            -0.36128997802734375,
            -0.461808443069458,
            -0.0003139488399028778
        ],
        "angular_velocity": [
            -0.9134175777435303,
            0.026737209409475327,
            -5.082755088806152
        ],
        "forward_vector": [
            -0.9889377951622009,
            -0.14833028614521027,
            -0.0004206895537208766
        ],
        "right_vector": [
            0.14833086729049683,
            -0.9889347553253174,
            -0.0024503828026354313
        ],
        "location": [
            205.71632385253906,
            5580.97216796875,
            365.4554748535156
        ],
        "rotation": [
            0.14039675891399384,
            -0.024103736504912376,
            -171.46981811523438
        ],
        "velocity": [
            -4.470264911651611,
            -0.5296737551689148,
            -0.0058843898586928844
        ],
        "speed": 4.50153558991355,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 90.19242095947266,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 215.03546142578125,
                        "y": 5510.0302734375,
                        "z": 366.05035400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.095616817474365,
                "transform": {
                    "location": {
                        "x": 214.77101135253906,
                        "y": 5560.8388671875,
                        "z": 365.5746154785156
                    },
                    "rotation": {
                        "roll": -0.000671372574288398,
                        "pitch": -0.3573281466960907,
                        "yaw": 88.32686614990234
                    }
                },
                "velocity": {
                    "x": 0.18282680213451385,
                    "y": 6.092686176300049,
                    "z": -0.04786679148674011
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.138482570648193,
                "transform": {
                    "location": {
                        "x": 215.2107696533203,
                        "y": 5575.99853515625,
                        "z": 365.4530334472656
                    },
                    "rotation": {
                        "roll": -0.0775146335363388,
                        "pitch": -0.32378509640693665,
                        "yaw": 88.47921752929688
                    }
                },
                "velocity": {
                    "x": 0.17614497244358063,
                    "y": 7.136074066162109,
                    "z": -0.05786961317062378
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.611358836991712e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008575439453125,
                        "pitch": -0.8072463274002075,
                        "yaw": 0.46868911385536194
                    }
                },
                "velocity": {
                    "x": 3.0056386094656773e-05,
                    "y": 3.123637361568399e-05,
                    "z": -8.578300185035914e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027679846971295774,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.583086461527273e-05,
                    "y": -2.0892890461254865e-05,
                    "z": -0.00027479746495373547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004623265122063458,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.3888051146059297e-05,
                    "y": -7.37785015303416e-08,
                    "z": 0.00046170895802788436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010416369332233444,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.6336639523506165,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 2.5391578674316406e-05,
                    "y": 2.424606282147579e-05,
                    "z": -9.806870366446674e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003409665951039642,
                "transform": {
                    "location": {
                        "x": 195.15875244140625,
                        "y": 5583.5546875,
                        "z": 365.4650573730469
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.13735510408878326,
                        "yaw": -0.0454711876809597
                    }
                },
                "velocity": {
                    "x": 2.903807853726903e-06,
                    "y": 2.52849768003216e-05,
                    "z": 0.0003400153946131468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.121561743086204e-05,
                "transform": {
                    "location": {
                        "x": 193.77304077148438,
                        "y": 5586.81005859375,
                        "z": 365.4662780761719
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -0.22051946818828583,
                        "yaw": -0.2487182766199112
                    }
                },
                "velocity": {
                    "x": 4.71254788863007e-05,
                    "y": 4.8959151172311977e-05,
                    "z": 6.084799679229036e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.264814853668213,
                "transform": {
                    "location": {
                        "x": 204.3496856689453,
                        "y": 5583.52734375,
                        "z": 365.45306396484375
                    },
                    "rotation": {
                        "roll": 0.00017411971930414438,
                        "pitch": 0.05373992398381233,
                        "yaw": -0.3214721381664276
                    }
                },
                "velocity": {
                    "x": 1.264794111251831,
                    "y": -0.006964942440390587,
                    "z": 0.0019613932818174362
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3881739377975464,
                "transform": {
                    "location": {
                        "x": 203.28147888183594,
                        "y": 5586.7880859375,
                        "z": 365.456787109375
                    },
                    "rotation": {
                        "roll": 0.00011453490878921002,
                        "pitch": 0.16150663793087006,
                        "yaw": -0.1695556342601776
                    }
                },
                "velocity": {
                    "x": 1.3881666660308838,
                    "y": -0.0038594775833189487,
                    "z": 0.0023150730412453413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.4124821126461029,
        "expert_target_speed": 10.0,
        "target_point": [
            47.60174654100286,
            -6.456414980698224
        ],
        "target_point_next": [
            48.59032230351074,
            -6.6071595402897545
        ]
    },
    "655": {
        "acceleration": [
            -0.36828041076660156,
            0.19633054733276367,
            -0.0018562376499176025
        ],
        "angular_velocity": [
            0.08938553184270859,
            0.04852546378970146,
            -3.2822489738464355
        ],
        "forward_vector": [
            -0.9910396933555603,
            -0.1335678994655609,
            -7.355212437687442e-05
        ],
        "right_vector": [
            0.1335679143667221,
            -0.9910392165184021,
            -0.001003075740300119
        ],
        "location": [
            204.58741760253906,
            5580.83154296875,
            365.4543151855469
        ],
        "rotation": [
            0.05747201666235924,
            -0.004214226268231869,
            -172.32418823242188
        ],
        "velocity": [
            -4.5616655349731445,
            -0.5324196815490723,
            -0.0056074620224535465
        ],
        "speed": 4.592631399346418,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 89.0628433227539,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.609463691711426,
                "transform": {
                    "location": {
                        "x": 214.6832733154297,
                        "y": 5513.7255859375,
                        "z": 365.9633483886719
                    },
                    "rotation": {
                        "roll": 0.010401977226138115,
                        "pitch": -0.5346671938896179,
                        "yaw": 94.81092834472656
                    }
                },
                "velocity": {
                    "x": -1.3053243160247803,
                    "y": 14.54919719696045,
                    "z": -0.23108257353305817
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.969183921813965,
                "transform": {
                    "location": {
                        "x": 214.81350708007812,
                        "y": 5562.2705078125,
                        "z": 365.5632629394531
                    },
                    "rotation": {
                        "roll": -0.001098626758903265,
                        "pitch": -0.34701457619667053,
                        "yaw": 88.25310516357422
                    }
                },
                "velocity": {
                    "x": 0.15411332249641418,
                    "y": 4.966640472412109,
                    "z": -0.03899787366390228
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.946462154388428,
                "transform": {
                    "location": {
                        "x": 215.25726318359375,
                        "y": 5577.88916015625,
                        "z": 365.44061279296875
                    },
                    "rotation": {
                        "roll": -0.11163330078125,
                        "pitch": -0.5319214463233948,
                        "yaw": 88.59750366210938
                    }
                },
                "velocity": {
                    "x": 0.1898369938135147,
                    "y": 7.9438958168029785,
                    "z": -0.06886384636163712
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002820415247697383,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008575439453125,
                        "pitch": -0.8072463274002075,
                        "yaw": 0.46868911385536194
                    }
                },
                "velocity": {
                    "x": 5.7775378081714734e-05,
                    "y": 7.722473674220964e-05,
                    "z": -0.0002650391834322363
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.950541915604845e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.3565888113807887e-05,
                    "y": -2.009637319133617e-05,
                    "z": -3.862086668959819e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00023211028019431978,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.179004150093533e-05,
                    "y": 4.9829786803456955e-06,
                    "z": 0.00023103148851078004
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005836001946590841,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.6336639523506165,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 1.946762131410651e-05,
                    "y": 1.635384796827566e-05,
                    "z": 0.0005830461159348488
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.552548348903656,
                "transform": {
                    "location": {
                        "x": 195.2106170654297,
                        "y": 5583.5546875,
                        "z": 365.4653015136719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.17529679834842682,
                        "yaw": -0.0356140099465847
                    }
                },
                "velocity": {
                    "x": 0.5525410175323486,
                    "y": -0.002469564788043499,
                    "z": -0.0014050102327018976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3109995424747467,
                "transform": {
                    "location": {
                        "x": 193.80148315429688,
                        "y": 5586.81005859375,
                        "z": 365.46624755859375
                    },
                    "rotation": {
                        "roll": 0.0004062973603140563,
                        "pitch": -0.1684187948703766,
                        "yaw": -0.2444763034582138
                    }
                },
                "velocity": {
                    "x": 0.3109925091266632,
                    "y": -0.001292902510613203,
                    "z": -0.0016425704816356301
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.002664566040039,
                "transform": {
                    "location": {
                        "x": 204.75999450683594,
                        "y": 5583.52490234375,
                        "z": 365.4533386230469
                    },
                    "rotation": {
                        "roll": 0.00013918026525061578,
                        "pitch": 0.05505815148353577,
                        "yaw": -0.2944031357765198
                    }
                },
                "velocity": {
                    "x": 2.0026276111602783,
                    "y": -0.01210450753569603,
                    "z": 0.0013318348210304976
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.262026309967041,
                "transform": {
                    "location": {
                        "x": 203.72781372070312,
                        "y": 5586.78662109375,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": 0.0005585601320490241,
                        "pitch": 0.17539924383163452,
                        "yaw": -0.1826476901769638
                    }
                },
                "velocity": {
                    "x": 2.262016773223877,
                    "y": -0.006392146926373243,
                    "z": 0.0013292122166603804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.2993626594543457,
        "expert_target_speed": 10.0,
        "target_point": [
            46.55514998711478,
            -5.734504775736452
        ],
        "target_point_next": [
            47.54586354532167,
            -5.870492297404887
        ]
    },
    "660": {
        "acceleration": [
            -0.3820323944091797,
            0.2354949712753296,
            0.00394478440284729
        ],
        "angular_velocity": [
            0.0987330749630928,
            0.030633976683020592,
            -3.341475486755371
        ],
        "forward_vector": [
            -0.9928674697875977,
            -0.1192231997847557,
            1.311302071371756e-06
        ],
        "right_vector": [
            0.11922308057546616,
            -0.9928664565086365,
            -0.0014136527897790074
        ],
        "location": [
            203.43515014648438,
            5580.703125,
            365.4533386230469
        ],
        "rotation": [
            0.08099636435508728,
            7.51320767449215e-05,
            -173.15272521972656
        ],
        "velocity": [
            -4.655488967895508,
            -0.4759199917316437,
            -0.004100150894373655
        ],
        "speed": 4.679751849054245,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 87.91015625,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.611495018005371,
                "transform": {
                    "location": {
                        "x": 214.39100646972656,
                        "y": 5517.3671875,
                        "z": 365.9255676269531
                    },
                    "rotation": {
                        "roll": 0.030807357281446457,
                        "pitch": -0.517332136631012,
                        "yaw": 93.6961441040039
                    }
                },
                "velocity": {
                    "x": -0.9906510710716248,
                    "y": 14.577363967895508,
                    "z": -0.12188829481601715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.587635517120361,
                "transform": {
                    "location": {
                        "x": 214.8475799560547,
                        "y": 5563.3857421875,
                        "z": 365.5545349121094
                    },
                    "rotation": {
                        "roll": 0.0005010299501009285,
                        "pitch": -0.38906803727149963,
                        "yaw": 88.25494384765625
                    }
                },
                "velocity": {
                    "x": 0.13997727632522583,
                    "y": 4.5853681564331055,
                    "z": -0.03471542149782181
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.77047061920166,
                "transform": {
                    "location": {
                        "x": 215.30734252929688,
                        "y": 5579.982421875,
                        "z": 365.42083740234375
                    },
                    "rotation": {
                        "roll": -0.03115849383175373,
                        "pitch": -0.5138555765151978,
                        "yaw": 88.66472625732422
                    }
                },
                "velocity": {
                    "x": 0.20209884643554688,
                    "y": 8.767767906188965,
                    "z": -0.08096455037593842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0001120941451517865,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008575439453125,
                        "pitch": -0.8072463274002075,
                        "yaw": 0.46868911385536194
                    }
                },
                "velocity": {
                    "x": 8.96155825103051e-07,
                    "y": 3.737489532795735e-05,
                    "z": -0.00010567597200861201
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030920220888219774,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.374917130509857e-05,
                    "y": -1.1721765531547135e-06,
                    "z": -0.00030828657327219844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005019576055929065,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00036722232471220195,
                        "pitch": -0.5821847915649414,
                        "yaw": -0.2018432319164276
                    }
                },
                "velocity": {
                    "x": 2.5249197278753854e-05,
                    "y": 3.3877620353450766e-06,
                    "z": 0.0005013106856495142
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004678979457821697,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338439941406
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.6339166760444641,
                        "yaw": -0.0183715783059597
                    }
                },
                "velocity": {
                    "x": 2.2627786165685393e-05,
                    "y": -2.670683534233831e-05,
                    "z": 0.00046658676001243293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.364842176437378,
                "transform": {
                    "location": {
                        "x": 195.46054077148438,
                        "y": 5583.5537109375,
                        "z": 365.4647521972656
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.19390906393527985,
                        "yaw": -0.0460205040872097
                    }
                },
                "velocity": {
                    "x": 1.3648372888565063,
                    "y": -0.0028537395410239697,
                    "z": -0.0022994326427578926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.293735146522522,
                "transform": {
                    "location": {
                        "x": 194.013427734375,
                        "y": 5586.80908203125,
                        "z": 365.4655456542969
                    },
                    "rotation": {
                        "roll": 1.9810076992143877e-05,
                        "pitch": -0.03820807486772537,
                        "yaw": -0.2575683295726776
                    }
                },
                "velocity": {
                    "x": 1.2937259674072266,
                    "y": -0.004013700410723686,
                    "z": -0.0027794456109404564
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.835625648498535,
                "transform": {
                    "location": {
                        "x": 205.3709259033203,
                        "y": 5583.52099609375,
                        "z": 365.4537353515625
                    },
                    "rotation": {
                        "roll": 0.00033318737405352294,
                        "pitch": 0.055399660021066666,
                        "yaw": -0.3116454482078552
                    }
                },
                "velocity": {
                    "x": 2.8355727195739746,
                    "y": -0.01728852279484272,
                    "z": 0.0011860751546919346
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8348348140716553,
                "transform": {
                    "location": {
                        "x": 204.48976135253906,
                        "y": 5586.78466796875,
                        "z": 365.4577331542969
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": 0.2612205743789673,
                        "yaw": -0.1668090671300888
                    }
                },
                "velocity": {
                    "x": 3.8348209857940674,
                    "y": -0.010155916213989258,
                    "z": 0.0018751334864646196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.22368741035461426,
        "expert_target_speed": 10.0,
        "target_point": [
            45.47384695612332,
            -5.05081791095979
        ],
        "target_point_next": [
            46.46642337880578,
            -5.172464964353475
        ]
    },
    "665": {
        "acceleration": [
            -0.3789043426513672,
            0.21581947803497314,
            0.012108609080314636
        ],
        "angular_velocity": [
            0.03290240094065666,
            0.019201340153813362,
            -3.1991477012634277
        ],
        "forward_vector": [
            -0.9944806098937988,
            -0.10492067039012909,
            3.612041473388672e-05
        ],
        "right_vector": [
            0.10492048412561417,
            -0.9944794178009033,
            -0.001559245167300105
        ],
        "location": [
            202.25929260253906,
            5580.5888671875,
            365.4525451660156
        ],
        "rotation": [
            0.08933819830417633,
            0.0020695473067462444,
            -173.97740173339844
        ],
        "velocity": [
            -4.751651287078857,
            -0.42162907123565674,
            -0.002064991043880582
        ],
        "speed": 4.77032085165235,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 86.73408508300781,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.517782211303711,
                "transform": {
                    "location": {
                        "x": 214.17007446289062,
                        "y": 5521.00634765625,
                        "z": 365.8945617675781
                    },
                    "rotation": {
                        "roll": 0.04004452005028725,
                        "pitch": -0.5082411766052246,
                        "yaw": 92.10773468017578
                    }
                },
                "velocity": {
                    "x": -0.6718881726264954,
                    "y": 14.50169563293457,
                    "z": -0.12401767820119858
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.176172733306885,
                "transform": {
                    "location": {
                        "x": 214.8855438232422,
                        "y": 5564.63720703125,
                        "z": 365.5460205078125
                    },
                    "rotation": {
                        "roll": 0.0011459402740001678,
                        "pitch": -0.49478569626808167,
                        "yaw": 88.2622299194336
                    }
                },
                "velocity": {
                    "x": 0.1567642092704773,
                    "y": 5.173647880554199,
                    "z": -0.039468612521886826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.551640510559082,
                "transform": {
                    "location": {
                        "x": 215.3524932861328,
                        "y": 5582.275390625,
                        "z": 365.4001159667969
                    },
                    "rotation": {
                        "roll": -0.006835929583758116,
                        "pitch": -0.4849229156970978,
                        "yaw": 88.96700286865234
                    }
                },
                "velocity": {
                    "x": 0.15424823760986328,
                    "y": 9.550020217895508,
                    "z": -0.08456118404865265
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00037177110789343715,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.007934571243822575,
                        "pitch": -0.8073692917823792,
                        "yaw": 0.46851620078086853
                    }
                },
                "velocity": {
                    "x": 3.529101377353072e-05,
                    "y": -2.020536840063869e-06,
                    "z": -0.0003700867819134146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002768674457911402,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.577887764549814e-05,
                    "y": 5.194534878683044e-06,
                    "z": -0.0002744967641774565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.013568135909736156,
                "transform": {
                    "location": {
                        "x": 185.3036651611328,
                        "y": 5583.57470703125,
                        "z": 365.5285949707031
                    },
                    "rotation": {
                        "roll": 0.00046511259279213846,
                        "pitch": -0.5816656947135925,
                        "yaw": -0.2029419094324112
                    }
                },
                "velocity": {
                    "x": 0.013564608059823513,
                    "y": 4.2416191718075424e-05,
                    "z": 0.00030643463833257556
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.550723340595141e-05,
                "transform": {
                    "location": {
                        "x": 184.70343017578125,
                        "y": 5586.828125,
                        "z": 365.5338134765625
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.6337254047393799,
                        "yaw": -0.01840209774672985
                    }
                },
                "velocity": {
                    "x": 2.3269876692211255e-05,
                    "y": -2.1919811388215749e-07,
                    "z": 2.6818433980224654e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2622897624969482,
                "transform": {
                    "location": {
                        "x": 195.916015625,
                        "y": 5583.55322265625,
                        "z": 365.4635925292969
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": -0.1682138890028,
                        "yaw": -0.0655517578125
                    }
                },
                "velocity": {
                    "x": 2.262279987335205,
                    "y": -0.0051573291420936584,
                    "z": -0.004222040064632893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.603398561477661,
                "transform": {
                    "location": {
                        "x": 194.513427734375,
                        "y": 5586.80810546875,
                        "z": 365.46405029296875
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": 0.07019384950399399,
                        "yaw": -0.2440185248851776
                    }
                },
                "velocity": {
                    "x": 2.6033759117126465,
                    "y": -0.007717416621744633,
                    "z": -0.007612485904246569
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4687745571136475,
                "transform": {
                    "location": {
                        "x": 206.1668701171875,
                        "y": 5583.51416015625,
                        "z": 365.4542236328125
                    },
                    "rotation": {
                        "roll": 0.005626599304378033,
                        "pitch": 0.05336426571011543,
                        "yaw": -0.4265136420726776
                    }
                },
                "velocity": {
                    "x": 3.466198682785034,
                    "y": -0.1336394101381302,
                    "z": 0.001897945418022573
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.890904426574707,
                "transform": {
                    "location": {
                        "x": 205.620849609375,
                        "y": 5586.78173828125,
                        "z": 365.45843505859375
                    },
                    "rotation": {
                        "roll": 0.0003949840902350843,
                        "pitch": 0.2286064177751541,
                        "yaw": -0.157470703125
                    }
                },
                "velocity": {
                    "x": 4.890885353088379,
                    "y": -0.013472851365804672,
                    "z": 0.0019846248906105757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.14055797457695007,
        "expert_target_speed": 10.0,
        "target_point": [
            44.36047464440364,
            -4.386073995494451
        ],
        "target_point_next": [
            45.35469904835026,
            -4.493422936157486
        ]
    },
    "670": {
        "acceleration": [
            -0.35208702087402344,
            0.27792036533355713,
            0.009442903101444244
        ],
        "angular_velocity": [
            0.02670207992196083,
            -0.027189554646611214,
            -3.5071818828582764
        ],
        "forward_vector": [
            -0.9959205389022827,
            -0.09023454785346985,
            3.314017885713838e-05
        ],
        "right_vector": [
            0.09023434668779373,
            -0.9959189891815186,
            -0.0017746464582160115
        ],
        "location": [
            201.0593719482422,
            5580.48876953125,
            365.4517822265625
        ],
        "rotation": [
            0.10167980939149857,
            0.0018987924559041858,
            -174.82290649414062
        ],
        "velocity": [
            -4.84439754486084,
            -0.35219523310661316,
            -0.002059192629531026
        ],
        "speed": 4.857183242876138,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.53411102294922,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.033193588256836,
                "transform": {
                    "location": {
                        "x": 214.0281219482422,
                        "y": 5524.57666015625,
                        "z": 365.8636779785156
                    },
                    "rotation": {
                        "roll": 0.04204505309462547,
                        "pitch": -0.513917088508606,
                        "yaw": 90.82249450683594
                    }
                },
                "velocity": {
                    "x": -0.36834925413131714,
                    "y": 14.02782154083252,
                    "z": -0.12276899069547653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.803971290588379,
                "transform": {
                    "location": {
                        "x": 214.92303466796875,
                        "y": 5565.88037109375,
                        "z": 365.5353698730469
                    },
                    "rotation": {
                        "roll": -3.0509932912536897e-05,
                        "pitch": -0.4318523406982422,
                        "yaw": 88.2668228149414
                    }
                },
                "velocity": {
                    "x": 0.1453460305929184,
                    "y": 4.801610469818115,
                    "z": -0.039355598390102386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.430402755737305,
                "transform": {
                    "location": {
                        "x": 215.39108276367188,
                        "y": 5584.77685546875,
                        "z": 365.379638671875
                    },
                    "rotation": {
                        "roll": -0.0018615532899275422,
                        "pitch": -0.4054878056049347,
                        "yaw": 89.2060317993164
                    }
                },
                "velocity": {
                    "x": 0.1420934796333313,
                    "y": 10.429150581359863,
                    "z": -0.07700584083795547
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003426529292482883,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008453368209302425,
                        "pitch": -0.8071029186248779,
                        "yaw": 0.46843355894088745
                    }
                },
                "velocity": {
                    "x": 6.755396316293627e-05,
                    "y": 7.725638170086313e-06,
                    "z": -0.00033583896583877504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.783585584140383e-05,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 3.506436769384891e-05,
                    "y": 4.410093606566079e-05,
                    "z": -1.30607804749161e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.027345901355147362,
                "transform": {
                    "location": {
                        "x": 185.3084259033203,
                        "y": 5583.57470703125,
                        "z": 365.5285339355469
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.5747057199478149,
                        "yaw": -0.2024535983800888
                    }
                },
                "velocity": {
                    "x": 0.027341894805431366,
                    "y": -0.000123007848742418,
                    "z": -0.00045163152390159667
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.12481485307216644,
                "transform": {
                    "location": {
                        "x": 184.71109008789062,
                        "y": 5586.828125,
                        "z": 365.5339050292969
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.6419694423675537,
                        "yaw": -0.028106683865189552
                    }
                },
                "velocity": {
                    "x": 0.12480344623327255,
                    "y": -0.0002114558155881241,
                    "z": -0.0016739463899284601
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1560232639312744,
                "transform": {
                    "location": {
                        "x": 196.59327697753906,
                        "y": 5583.5517578125,
                        "z": 365.4623107910156
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.15011389553546906,
                        "yaw": -0.0817871168255806
                    }
                },
                "velocity": {
                    "x": 3.1560137271881104,
                    "y": -0.006459427997469902,
                    "z": -0.004344110377132893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.206125259399414,
                "transform": {
                    "location": {
                        "x": 195.376708984375,
                        "y": 5586.8056640625,
                        "z": 365.46142578125
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 0.20259706676006317,
                        "yaw": -0.2070312350988388
                    }
                },
                "velocity": {
                    "x": 4.206090450286865,
                    "y": -0.011808511801064014,
                    "z": -0.012421569786965847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4418277740478516,
                "transform": {
                    "location": {
                        "x": 206.92498779296875,
                        "y": 5583.45849609375,
                        "z": 365.4549560546875
                    },
                    "rotation": {
                        "roll": 0.008832046762108803,
                        "pitch": 0.020121736451983452,
                        "yaw": -2.314208984375
                    }
                },
                "velocity": {
                    "x": 2.424762010574341,
                    "y": -0.28818371891975403,
                    "z": 0.0016016291920095682
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.64335036277771,
                "transform": {
                    "location": {
                        "x": 206.7029571533203,
                        "y": 5586.779296875,
                        "z": 365.4587097167969
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.058288831263780594,
                        "yaw": -0.154632568359375
                    }
                },
                "velocity": {
                    "x": 3.6433377265930176,
                    "y": -0.009113229811191559,
                    "z": 0.0031611728481948376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.08066462725400925,
        "expert_target_speed": 10.0,
        "target_point": [
            43.21631019453553,
            -3.7224008950987693
        ],
        "target_point_next": [
            44.212010450107165,
            -3.815066754610563
        ]
    },
    "675": {
        "acceleration": [
            0.7522392272949219,
            0.3453683853149414,
            0.0012390129268169403
        ],
        "angular_velocity": [
            0.0417826808989048,
            -0.11381053924560547,
            -3.4670727252960205
        ],
        "forward_vector": [
            -0.9971843957901001,
            -0.07498886436223984,
            -0.00022208689188119024
        ],
        "right_vector": [
            0.07498915493488312,
            -0.9971824884414673,
            -0.001934726838953793
        ],
        "location": [
            199.8494415283203,
            5580.4072265625,
            365.45166015625
        ],
        "rotation": [
            0.11085174977779388,
            -0.01272464171051979,
            -175.6994171142578
        ],
        "velocity": [
            -4.781472682952881,
            -0.27373644709587097,
            0.0015423011500388384
        ],
        "speed": 4.7893018969671655,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 84.3242416381836,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.338746070861816,
                "transform": {
                    "location": {
                        "x": 213.96054077148438,
                        "y": 5527.99658203125,
                        "z": 365.8338928222656
                    },
                    "rotation": {
                        "roll": 0.03599565476179123,
                        "pitch": -0.5168676972389221,
                        "yaw": 89.93101501464844
                    }
                },
                "velocity": {
                    "x": -0.1302841305732727,
                    "y": 13.33761215209961,
                    "z": -0.11520316451787949
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.09904670715332,
                "transform": {
                    "location": {
                        "x": 214.95655822753906,
                        "y": 5566.9912109375,
                        "z": 365.52630615234375
                    },
                    "rotation": {
                        "roll": 9.627846884541214e-05,
                        "pitch": -0.3833921551704407,
                        "yaw": 88.27130889892578
                    }
                },
                "velocity": {
                    "x": 0.12399337440729141,
                    "y": 4.097041130065918,
                    "z": -0.032600659877061844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.311470031738281,
                "transform": {
                    "location": {
                        "x": 215.4188995361328,
                        "y": 5587.498046875,
                        "z": 365.3599548339844
                    },
                    "rotation": {
                        "roll": -0.007690423168241978,
                        "pitch": -0.3739664852619171,
                        "yaw": 89.55979919433594
                    }
                },
                "velocity": {
                    "x": 0.07360206544399261,
                    "y": 11.310972213745117,
                    "z": -0.07646568864583969
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5303519578301348e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.00848388671875,
                        "pitch": -0.8070414662361145,
                        "yaw": 0.46840521693229675
                    }
                },
                "velocity": {
                    "x": 2.335160934308078e-05,
                    "y": 1.0739360050138202e-06,
                    "z": -9.685922123026103e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005294744041748345,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.289786971232388e-05,
                    "y": 7.617508117618854e-07,
                    "z": -0.0005289784749038517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.26325446367263794,
                "transform": {
                    "location": {
                        "x": 185.32679748535156,
                        "y": 5583.57470703125,
                        "z": 365.5281982421875
                    },
                    "rotation": {
                        "roll": 0.0002958020195364952,
                        "pitch": -0.5588324069976807,
                        "yaw": -0.21130366623401642
                    }
                },
                "velocity": {
                    "x": 0.2632324695587158,
                    "y": -0.0016028722748160362,
                    "z": -0.0030013942159712315
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9458547830581665,
                "transform": {
                    "location": {
                        "x": 184.8406982421875,
                        "y": 5586.8271484375,
                        "z": 365.532958984375
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.6913448572158813,
                        "yaw": -0.01031494140625
                    }
                },
                "velocity": {
                    "x": 0.9458129405975342,
                    "y": -0.0021021212451159954,
                    "z": -0.008643083274364471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7754595279693604,
                "transform": {
                    "location": {
                        "x": 197.38319396972656,
                        "y": 5583.5498046875,
                        "z": 365.4605712890625
                    },
                    "rotation": {
                        "roll": -3.051758176297881e-05,
                        "pitch": -0.053193509578704834,
                        "yaw": -0.0959777757525444
                    }
                },
                "velocity": {
                    "x": 2.775452136993408,
                    "y": -0.006034082267433405,
                    "z": -0.002223119605332613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8159308433532715,
                "transform": {
                    "location": {
                        "x": 196.44561767578125,
                        "y": 5586.80224609375,
                        "z": 365.4586486816406
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.03384358435869217,
                        "yaw": -0.1775512397289276
                    }
                },
                "velocity": {
                    "x": 3.815915107727051,
                    "y": -0.009858422912657261,
                    "z": -0.004803123418241739
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3228819370269775,
                "transform": {
                    "location": {
                        "x": 207.47499084472656,
                        "y": 5583.40234375,
                        "z": 365.45526123046875
                    },
                    "rotation": {
                        "roll": 0.002068303059786558,
                        "pitch": 0.02865947224199772,
                        "yaw": -3.59375
                    }
                },
                "velocity": {
                    "x": 2.305373191833496,
                    "y": -0.28466686606407166,
                    "z": -0.00022483825159724802
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.249495029449463,
                "transform": {
                    "location": {
                        "x": 207.4246826171875,
                        "y": 5586.77734375,
                        "z": 365.45904541015625
                    },
                    "rotation": {
                        "roll": 0.0002586481859907508,
                        "pitch": -0.15945759415626526,
                        "yaw": -0.159942626953125
                    }
                },
                "velocity": {
                    "x": 2.2494864463806152,
                    "y": -0.006053116172552109,
                    "z": 0.001297101960517466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.04055130109190941,
        "expert_target_speed": 10.0,
        "target_point": [
            42.05555902901603,
            -3.0514346631906664
        ],
        "target_point_next": [
            43.0525603509953,
            -3.128857685839437
        ]
    },
    "680": {
        "acceleration": [
            0.764617919921875,
            0.30729353427886963,
            -0.002835271880030632
        ],
        "angular_velocity": [
            -0.04327930510044098,
            0.03440456837415695,
            -3.3282363414764404
        ],
        "forward_vector": [
            -0.9981856942176819,
            -0.0602082684636116,
            -0.00047445291420444846
        ],
        "right_vector": [
            0.06020904704928398,
            -0.998184084892273,
            -0.001837354153394699
        ],
        "location": [
            198.681396484375,
            5580.3466796875,
            365.4523010253906
        ],
        "rotation": [
            0.10527271032333374,
            -0.027184151113033295,
            -176.54823303222656
        ],
        "velocity": [
            -4.577352046966553,
            -0.19253380596637726,
            0.0020830249413847923
        ],
        "speed": 4.581399461770256,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 83.15631103515625,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4465,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 214.9903106689453,
                        "y": 5510.49853515625,
                        "z": 366.0384216308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5234383344650269,
                        "yaw": 94.8896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.686769485473633,
                "transform": {
                    "location": {
                        "x": 213.95046997070312,
                        "y": 5531.2421875,
                        "z": 365.8060607910156
                    },
                    "rotation": {
                        "roll": 0.02947952225804329,
                        "pitch": -0.5111644864082336,
                        "yaw": 89.27198028564453
                    }
                },
                "velocity": {
                    "x": 0.08179526776075363,
                    "y": 12.68604564666748,
                    "z": -0.10802358388900757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4463,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.611391067504883,
                "transform": {
                    "location": {
                        "x": 214.98928833007812,
                        "y": 5568.0732421875,
                        "z": 365.51849365234375
                    },
                    "rotation": {
                        "roll": -0.0001525639818282798,
                        "pitch": -0.4783317744731903,
                        "yaw": 88.27227020263672
                    }
                },
                "velocity": {
                    "x": 0.13906055688858032,
                    "y": 4.6091485023498535,
                    "z": -0.03661937266588211
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.271653175354004,
                "transform": {
                    "location": {
                        "x": 215.43429565429688,
                        "y": 5590.44970703125,
                        "z": 365.3394775390625
                    },
                    "rotation": {
                        "roll": -0.007934575900435448,
                        "pitch": -0.38357657194137573,
                        "yaw": 89.84443664550781
                    }
                },
                "velocity": {
                    "x": 0.007960409857332706,
                    "y": 12.27133846282959,
                    "z": -0.08755557984113693
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.4914388632168993e-05,
                "transform": {
                    "location": {
                        "x": 175.11773681640625,
                        "y": 5583.56494140625,
                        "z": 365.6496276855469
                    },
                    "rotation": {
                        "roll": -0.008819580078125,
                        "pitch": -0.8070687651634216,
                        "yaw": 0.4683769941329956
                    }
                },
                "velocity": {
                    "x": 2.3633836462977342e-05,
                    "y": 3.0839769351587165e-06,
                    "z": -7.2565612754260655e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002841409877873957,
                "transform": {
                    "location": {
                        "x": 174.759765625,
                        "y": 5586.8134765625,
                        "z": 365.66259765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.7884770035743713,
                        "yaw": 0.2940157353878021
                    }
                },
                "velocity": {
                    "x": 2.84349916910287e-05,
                    "y": -2.9635535611305386e-05,
                    "z": -0.0002811570302583277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.354340672492981,
                "transform": {
                    "location": {
                        "x": 185.53961181640625,
                        "y": 5583.57421875,
                        "z": 365.5242919921875
                    },
                    "rotation": {
                        "roll": -0.0025634767953306437,
                        "pitch": -0.3448152542114258,
                        "yaw": -0.149932861328125
                    }
                },
                "velocity": {
                    "x": 1.3542671203613281,
                    "y": -0.0015846759779378772,
                    "z": -0.014023046009242535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.719480276107788,
                "transform": {
                    "location": {
                        "x": 185.171875,
                        "y": 5586.82666015625,
                        "z": 365.5297546386719
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.6830462217330933,
                        "yaw": -0.0215759240090847
                    }
                },
                "velocity": {
                    "x": 1.7194058895111084,
                    "y": -0.002873827703297138,
                    "z": -0.015740709379315376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6394951343536377,
                "transform": {
                    "location": {
                        "x": 198.02061462402344,
                        "y": 5583.548828125,
                        "z": 365.46002197265625
                    },
                    "rotation": {
                        "roll": 0.0005393509636633098,
                        "pitch": -0.040134187787771225,
                        "yaw": -0.1028442233800888
                    }
                },
                "velocity": {
                    "x": 2.6394882202148438,
                    "y": -0.006018573418259621,
                    "z": -0.0009149074321612716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8658058643341064,
                "transform": {
                    "location": {
                        "x": 197.2342987060547,
                        "y": 5586.80029296875,
                        "z": 365.4577941894531
                    },
                    "rotation": {
                        "roll": 5.699219036614522e-05,
                        "pitch": -0.22195380926132202,
                        "yaw": -0.16326904296875
                    }
                },
                "velocity": {
                    "x": 2.865795850753784,
                    "y": -0.007250327151268721,
                    "z": -0.0021005820017307997
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0633387565612793,
                "transform": {
                    "location": {
                        "x": 208.14328002929688,
                        "y": 5583.3271484375,
                        "z": 365.4515686035156
                    },
                    "rotation": {
                        "roll": 0.04622352123260498,
                        "pitch": -0.13177482783794403,
                        "yaw": -4.774935245513916
                    }
                },
                "velocity": {
                    "x": 3.0381174087524414,
                    "y": -0.3911231458187103,
                    "z": -0.03014383651316166
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0035849716514348984,
                "transform": {
                    "location": {
                        "x": 207.548828125,
                        "y": 5586.77685546875,
                        "z": 365.458984375
                    },
                    "rotation": {
                        "roll": -0.0016784669132903218,
                        "pitch": -0.25107091665267944,
                        "yaw": -0.0905761644244194
                    }
                },
                "velocity": {
                    "x": -0.0030817475635558367,
                    "y": -1.687505209702067e-05,
                    "z": 0.0018315482884645462
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.00955189485102892,
        "expert_target_speed": 10.0,
        "target_point": [
            40.92657624208555,
            -2.4182069337164918
        ],
        "target_point_next": [
            41.9246150941186,
            -2.4808520476284026
        ]
    },
    "685": {
        "acceleration": [
            0.49846649169921875,
            0.2615825831890106,
            0.028450964018702507
        ],
        "angular_velocity": [
            -0.010154509916901588,
            0.10102256387472153,
            -3.397184133529663
        ],
        "forward_vector": [
            -0.9989453554153442,
            -0.045914389193058014,
            0.0001060962604242377
        ],
        "right_vector": [
            0.04591413214802742,
            -0.9989438056945801,
            -0.001756414189003408
        ],
        "location": [
            197.5563201904297,
            5580.3046875,
            365.4527282714844
        ],
        "rotation": [
            0.10063517093658447,
            0.006078868173062801,
            -177.36837768554688
        ],
        "velocity": [
            -4.436609745025635,
            -0.1227632388472557,
            0.0033975981641560793
        ],
        "speed": 4.438307880540589,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.0313720703125,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 156.6991424560547,
                        "y": 5586.798828125,
                        "z": 366.1960754394531
                    },
                    "rotation": {
                        "roll": 1.0423156782124465e-10,
                        "pitch": -0.8383442163467407,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -5.5643760710211154e-09,
                    "y": 1.336957541203665e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 156.6913299560547,
                        "y": 5583.548828125,
                        "z": 366.1960754394531
                    },
                    "rotation": {
                        "roll": 1.0423156782124465e-10,
                        "pitch": -0.8383442163467407,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": -5.292067672968415e-09,
                    "y": 1.2715297564858119e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.06629598885774612,
                "transform": {
                    "location": {
                        "x": 175.12109375,
                        "y": 5583.56494140625,
                        "z": 365.64959716796875
                    },
                    "rotation": {
                        "roll": -0.00958251953125,
                        "pitch": -0.7966595888137817,
                        "yaw": 0.477518767118454
                    }
                },
                "velocity": {
                    "x": 0.0662674680352211,
                    "y": 0.0004281328583601862,
                    "z": -0.001896715140901506
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.39744213223457336,
                "transform": {
                    "location": {
                        "x": 174.79319763183594,
                        "y": 5586.8134765625,
                        "z": 365.6623840332031
                    },
                    "rotation": {
                        "roll": -0.006256102584302425,
                        "pitch": -0.8181815147399902,
                        "yaw": 0.31120237708091736
                    }
                },
                "velocity": {
                    "x": 0.39740240573883057,
                    "y": 0.0003316677757538855,
                    "z": -0.005609540734440088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6468749046325684,
                "transform": {
                    "location": {
                        "x": 186.0379638671875,
                        "y": 5583.5732421875,
                        "z": 365.5184020996094
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.2250683754682541,
                        "yaw": -0.1312255710363388
                    }
                },
                "velocity": {
                    "x": 2.646745443344116,
                    "y": -0.0034455619752407074,
                    "z": -0.025946320965886116
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6389780044555664,
                "transform": {
                    "location": {
                        "x": 185.72171020507812,
                        "y": 5586.82568359375,
                        "z": 365.5243225097656
                    },
                    "rotation": {
                        "roll": 0.0009305296116508543,
                        "pitch": -0.6509989500045776,
                        "yaw": -0.03521728515625
                    }
                },
                "velocity": {
                    "x": 2.638857126235962,
                    "y": -0.004708527121692896,
                    "z": -0.024809960275888443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9741711616516113,
                "transform": {
                    "location": {
                        "x": 198.759521484375,
                        "y": 5583.54736328125,
                        "z": 365.4602966308594
                    },
                    "rotation": {
                        "roll": 0.00047497492050752044,
                        "pitch": -0.06460675597190857,
                        "yaw": -0.1054077073931694
                    }
                },
                "velocity": {
                    "x": 2.974165678024292,
                    "y": -0.005521960556507111,
                    "z": 0.0013880920596420765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2271759510040283,
                "transform": {
                    "location": {
                        "x": 197.91171264648438,
                        "y": 5586.798828125,
                        "z": 365.45745849609375
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.19384758174419403,
                        "yaw": -0.1539001315832138
                    }
                },
                "velocity": {
                    "x": 2.2271690368652344,
                    "y": -0.005302072502672672,
                    "z": -0.0015597152523696423
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8201346397399902,
                "transform": {
                    "location": {
                        "x": 208.9999237060547,
                        "y": 5583.22216796875,
                        "z": 365.4457092285156
                    },
                    "rotation": {
                        "roll": 0.06059543415904045,
                        "pitch": -0.39861664175987244,
                        "yaw": -5.979405403137207
                    }
                },
                "velocity": {
                    "x": 3.769124746322632,
                    "y": -0.6212990283966064,
                    "z": -0.03338632360100746
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5729912519454956,
                "transform": {
                    "location": {
                        "x": 207.60812377929688,
                        "y": 5586.77685546875,
                        "z": 365.4594421386719
                    },
                    "rotation": {
                        "roll": 0.00021703707170672715,
                        "pitch": 0.037251848727464676,
                        "yaw": -0.1318969428539276
                    }
                },
                "velocity": {
                    "x": 0.5729859471321106,
                    "y": -0.0018748659640550613,
                    "z": 0.0015872478252276778
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.0003544192877598107,
        "expert_target_speed": 10.0,
        "target_point": [
            39.8311791193179,
            -1.82243991077318
        ],
        "target_point_next": [
            40.830012408693925,
            -1.87079299235803
        ]
    },
    "690": {
        "acceleration": [
            0.40283203125,
            0.24578876793384552,
            -0.0019199308007955551
        ],
        "angular_velocity": [
            -0.030057886615395546,
            0.015153562650084496,
            -2.911085367202759
        ],
        "forward_vector": [
            -0.9994872212409973,
            -0.03201810270547867,
            0.00025928017566911876
        ],
        "right_vector": [
            0.032017629593610764,
            -0.9994859099388123,
            -0.001662806491367519
        ],
        "location": [
            196.46226501464844,
            5580.279296875,
            365.4538879394531
        ],
        "rotation": [
            0.09527184814214706,
            0.014855660498142242,
            -178.16519165039062
        ],
        "velocity": [
            -4.324816703796387,
            -0.0589464046061039,
            0.005670404527336359
        ],
        "speed": 4.325218399116076,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.93743896484375,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1304512917995453,
                "transform": {
                    "location": {
                        "x": 156.6971893310547,
                        "y": 5586.798828125,
                        "z": 365.8388977050781
                    },
                    "rotation": {
                        "roll": -0.0016174317570403218,
                        "pitch": -0.8367664217948914,
                        "yaw": -0.1376648098230362
                    }
                },
                "velocity": {
                    "x": -0.0018991031683981419,
                    "y": -5.666508513968438e-05,
                    "z": -0.1304374486207962
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.005333485081791878,
                "transform": {
                    "location": {
                        "x": 156.68968200683594,
                        "y": 5583.548828125,
                        "z": 365.9072265625
                    },
                    "rotation": {
                        "roll": 0.0001761312159942463,
                        "pitch": -0.8401815295219421,
                        "yaw": -0.1376952975988388
                    }
                },
                "velocity": {
                    "x": 0.00010821908654179424,
                    "y": -0.00021967734210193157,
                    "z": 0.0053278598934412
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6260955333709717,
                "transform": {
                    "location": {
                        "x": 175.2060089111328,
                        "y": 5583.5654296875,
                        "z": 365.6478576660156
                    },
                    "rotation": {
                        "roll": -0.007202148903161287,
                        "pitch": -0.6517024636268616,
                        "yaw": 0.4337952733039856
                    }
                },
                "velocity": {
                    "x": 0.6260243058204651,
                    "y": 0.004358119796961546,
                    "z": -0.008378305472433567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.251420021057129,
                "transform": {
                    "location": {
                        "x": 174.9977264404297,
                        "y": 5586.81494140625,
                        "z": 365.6598815917969
                    },
                    "rotation": {
                        "roll": -0.006378173362463713,
                        "pitch": -0.8663889765739441,
                        "yaw": 0.30533117055892944
                    }
                },
                "velocity": {
                    "x": 1.2512893676757812,
                    "y": 0.005299913231283426,
                    "z": -0.017285041511058807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.545170307159424,
                "transform": {
                    "location": {
                        "x": 186.9391326904297,
                        "y": 5583.5712890625,
                        "z": 365.5082092285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.060153473168611526,
                        "yaw": -0.1270751804113388
                    }
                },
                "velocity": {
                    "x": 4.54496431350708,
                    "y": -0.008478100411593914,
                    "z": -0.04246074706315994
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6466715335845947,
                "transform": {
                    "location": {
                        "x": 186.5067138671875,
                        "y": 5586.82421875,
                        "z": 365.5164794921875
                    },
                    "rotation": {
                        "roll": 0.0005258212331682444,
                        "pitch": -0.6072652339935303,
                        "yaw": -0.060058582574129105
                    }
                },
                "velocity": {
                    "x": 3.64650559425354,
                    "y": -0.0075382268987596035,
                    "z": -0.033960890024900436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.948986053466797,
                "transform": {
                    "location": {
                        "x": 199.46585083007812,
                        "y": 5583.54541015625,
                        "z": 365.46002197265625
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.010716565884649754,
                        "yaw": -0.10986325144767761
                    }
                },
                "velocity": {
                    "x": 2.948976755142212,
                    "y": -0.0073478976264595985,
                    "z": 0.0010260200360789895
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5861335396766663,
                "transform": {
                    "location": {
                        "x": 198.04257202148438,
                        "y": 5586.7978515625,
                        "z": 365.45733642578125
                    },
                    "rotation": {
                        "roll": 0.001124951639212668,
                        "pitch": -0.2990051805973053,
                        "yaw": -0.1913451999425888
                    }
                },
                "velocity": {
                    "x": 0.5861288905143738,
                    "y": -0.0023312473203986883,
                    "z": -0.00023293495178222656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.561700344085693,
                "transform": {
                    "location": {
                        "x": 210.02960205078125,
                        "y": 5583.0302734375,
                        "z": 365.4393005371094
                    },
                    "rotation": {
                        "roll": 0.10637649893760681,
                        "pitch": -0.7092877626419067,
                        "yaw": -8.949780464172363
                    }
                },
                "velocity": {
                    "x": 4.423372268676758,
                    "y": -1.1142059564590454,
                    "z": -0.03782198205590248
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4434372186660767,
                "transform": {
                    "location": {
                        "x": 207.86453247070312,
                        "y": 5586.7763671875,
                        "z": 365.459716796875
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.14480683207511902,
                        "yaw": -0.0916137620806694
                    }
                },
                "velocity": {
                    "x": 1.443434715270996,
                    "y": -0.0018750759772956371,
                    "z": 0.0018820189870893955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.0031361752189695835,
        "expert_target_speed": 10.0,
        "target_point": [
            38.758364009793745,
            -1.2586992741300507
        ],
        "target_point_next": [
            39.757773134329895,
            -1.2931573973867638
        ]
    },
    "695": {
        "acceleration": [
            0.30806541442871094,
            0.19656038284301758,
            0.041903890669345856
        ],
        "angular_velocity": [
            -0.12085682898759842,
            0.3540407419204712,
            -3.2204113006591797
        ],
        "forward_vector": [
            -0.999828040599823,
            -0.018518246710300446,
            0.0009655950125306845
        ],
        "right_vector": [
            0.01851676031947136,
            -0.9998273253440857,
            -0.0015263400273397565
        ],
        "location": [
            195.3922576904297,
            5580.26904296875,
            365.4559631347656
        ],
        "rotation": [
            0.08745291829109192,
            0.055324528366327286,
            -178.9389190673828
        ],
        "velocity": [
            -4.240050792694092,
            -0.004089131020009518,
            0.014034862630069256
        ],
        "speed": 4.240052764485165,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 79.86752319335938,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.18587161600589752,
                "transform": {
                    "location": {
                        "x": 156.6971893310547,
                        "y": 5586.798828125,
                        "z": 365.8857727050781
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.8366093635559082,
                        "yaw": -0.1377258151769638
                    }
                },
                "velocity": {
                    "x": 0.0027652233839035034,
                    "y": 4.1204304579878226e-05,
                    "z": 0.18585103750228882
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2470255196094513,
                "transform": {
                    "location": {
                        "x": 156.69366455078125,
                        "y": 5583.548828125,
                        "z": 365.9350280761719
                    },
                    "rotation": {
                        "roll": 0.00022233785421121866,
                        "pitch": -0.8306260704994202,
                        "yaw": -0.1370239108800888
                    }
                },
                "velocity": {
                    "x": 0.23309177160263062,
                    "y": 0.001467514201067388,
                    "z": 0.08177823573350906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5153323411941528,
                "transform": {
                    "location": {
                        "x": 175.49203491210938,
                        "y": 5583.56689453125,
                        "z": 365.6433410644531
                    },
                    "rotation": {
                        "roll": -0.006835936568677425,
                        "pitch": -0.4981120228767395,
                        "yaw": 0.46278616786003113
                    }
                },
                "velocity": {
                    "x": 1.5151652097702026,
                    "y": 0.00772316986694932,
                    "z": -0.02114265412092209
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0984134674072266,
                "transform": {
                    "location": {
                        "x": 175.41702270507812,
                        "y": 5586.81689453125,
                        "z": 365.6542053222656
                    },
                    "rotation": {
                        "roll": -0.006103515159338713,
                        "pitch": -0.8772557973861694,
                        "yaw": 0.2933956980705261
                    }
                },
                "velocity": {
                    "x": 2.0981903076171875,
                    "y": 0.00934670027345419,
                    "z": -0.029146989807486534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.0900938510894775,
                "transform": {
                    "location": {
                        "x": 188.01617431640625,
                        "y": 5583.56884765625,
                        "z": 365.5039367675781
                    },
                    "rotation": {
                        "roll": 0.000414267648011446,
                        "pitch": -0.6523445248603821,
                        "yaw": -0.133056640625
                    }
                },
                "velocity": {
                    "x": 2.090022563934326,
                    "y": -0.004267048556357622,
                    "z": -0.016731910407543182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.11898136138916,
                "transform": {
                    "location": {
                        "x": 187.53375244140625,
                        "y": 5586.822265625,
                        "z": 365.5065612792969
                    },
                    "rotation": {
                        "roll": 0.0007198686362244189,
                        "pitch": -0.5315526127815247,
                        "yaw": -0.0836791917681694
                    }
                },
                "velocity": {
                    "x": 4.118834018707275,
                    "y": -0.008594072423875332,
                    "z": -0.033750019967556
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.940251111984253,
                "transform": {
                    "location": {
                        "x": 200.3230438232422,
                        "y": 5583.54345703125,
                        "z": 365.46044921875
                    },
                    "rotation": {
                        "roll": 0.000631436996627599,
                        "pitch": -0.06033788621425629,
                        "yaw": -0.1113281175494194
                    }
                },
                "velocity": {
                    "x": 3.940243721008301,
                    "y": -0.007417758926749229,
                    "z": 0.001703824964351952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7793340682983398,
                "transform": {
                    "location": {
                        "x": 198.34437561035156,
                        "y": 5586.79736328125,
                        "z": 365.45745849609375
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.09937241673469543,
                        "yaw": -0.1851196140050888
                    }
                },
                "velocity": {
                    "x": 1.7793282270431519,
                    "y": -0.00449644960463047,
                    "z": -0.00087115284986794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.238902568817139,
                "transform": {
                    "location": {
                        "x": 211.21304321289062,
                        "y": 5582.68994140625,
                        "z": 365.42767333984375
                    },
                    "rotation": {
                        "roll": 0.41388973593711853,
                        "pitch": -0.7692500352859497,
                        "yaw": -14.216085433959961
                    }
                },
                "velocity": {
                    "x": 4.883701324462891,
                    "y": -1.8954921960830688,
                    "z": -0.051670875400304794
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4648444652557373,
                "transform": {
                    "location": {
                        "x": 208.34625244140625,
                        "y": 5586.775390625,
                        "z": 365.4588623046875
                    },
                    "rotation": {
                        "roll": -0.0922546237707138,
                        "pitch": 0.12908373773097992,
                        "yaw": -0.004272460471838713
                    }
                },
                "velocity": {
                    "x": 2.4648241996765137,
                    "y": -0.008068914525210857,
                    "z": -0.0059062098152935505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.020851287990808487,
        "expert_target_speed": 10.0,
        "target_point": [
            37.701813368093916,
            -0.7256437431864007
        ],
        "target_point_next": [
            38.70159667782988,
            -0.7466030856823075
        ]
    },
    "700": {
        "acceleration": [
            0.2653694152832031,
            -0.30062204599380493,
            0.0018575601279735565
        ],
        "angular_velocity": [
            -0.3874463438987732,
            0.3522453308105469,
            -0.6940357685089111
        ],
        "forward_vector": [
            -0.9999638199806213,
            -0.008099828846752644,
            0.002597090322524309
        ],
        "right_vector": [
            0.008098085410892963,
            -0.9999669790267944,
            -0.0006813170621171594
        ],
        "location": [
            194.34046936035156,
            5580.2685546875,
            365.45928955078125
        ],
        "rotation": [
            0.03903672844171524,
            0.1488024890422821,
            -179.53590393066406
        ],
        "velocity": [
            -4.171730041503906,
            -0.003313799388706684,
            0.013674248941242695
        ],
        "speed": 4.171731357656263,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.81580352783203,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6140953898429871,
                "transform": {
                    "location": {
                        "x": 156.7246856689453,
                        "y": 5586.798828125,
                        "z": 365.9061279296875
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": -0.8228738307952881,
                        "yaw": -0.1306152045726776
                    }
                },
                "velocity": {
                    "x": 0.6139997839927673,
                    "y": 0.004310356453061104,
                    "z": 0.009941157884895802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5255193710327148,
                "transform": {
                    "location": {
                        "x": 156.9421844482422,
                        "y": 5583.5498046875,
                        "z": 365.9410400390625
                    },
                    "rotation": {
                        "roll": -0.004241942893713713,
                        "pitch": -0.7313219904899597,
                        "yaw": -0.0383605919778347
                    }
                },
                "velocity": {
                    "x": 1.5254539251327515,
                    "y": 0.013004487380385399,
                    "z": -0.005529079120606184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.4419190883636475,
                "transform": {
                    "location": {
                        "x": 175.98101806640625,
                        "y": 5583.5693359375,
                        "z": 365.63629150390625
                    },
                    "rotation": {
                        "roll": -0.00372314453125,
                        "pitch": -0.4292295575141907,
                        "yaw": 0.3996705710887909
                    }
                },
                "velocity": {
                    "x": 2.4416582584381104,
                    "y": 0.01135150995105505,
                    "z": -0.033835411071777344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8865361213684082,
                "transform": {
                    "location": {
                        "x": 175.9521026611328,
                        "y": 5586.8193359375,
                        "z": 365.6460876464844
                    },
                    "rotation": {
                        "roll": -0.0050048828125,
                        "pitch": -0.7888184785842896,
                        "yaw": 0.28384092450141907
                    }
                },
                "velocity": {
                    "x": 1.886335849761963,
                    "y": 0.008422124199569225,
                    "z": -0.026169056072831154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9569423794746399,
                "transform": {
                    "location": {
                        "x": 188.1404571533203,
                        "y": 5583.56884765625,
                        "z": 365.5076904296875
                    },
                    "rotation": {
                        "roll": 0.0019786085467785597,
                        "pitch": -1.222385287284851,
                        "yaw": -0.1170959323644638
                    }
                },
                "velocity": {
                    "x": 0.9569166302680969,
                    "y": -0.0020143992733210325,
                    "z": -0.006731729488819838
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8125932216644287,
                "transform": {
                    "location": {
                        "x": 188.39523315429688,
                        "y": 5586.8212890625,
                        "z": 365.4983215332031
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.38030490279197693,
                        "yaw": -0.0956725925207138
                    }
                },
                "velocity": {
                    "x": 2.812490224838257,
                    "y": -0.006114884279668331,
                    "z": -0.023274758830666542
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.686887741088867,
                "transform": {
                    "location": {
                        "x": 201.3103790283203,
                        "y": 5583.5419921875,
                        "z": 365.4599914550781
                    },
                    "rotation": {
                        "roll": 0.00022886278748046607,
                        "pitch": 0.04613792523741722,
                        "yaw": -0.11303708702325821
                    }
                },
                "velocity": {
                    "x": 3.686880350112915,
                    "y": -0.007114137057214975,
                    "z": 0.0021406745072454214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.854816198348999,
                "transform": {
                    "location": {
                        "x": 198.94992065429688,
                        "y": 5586.7958984375,
                        "z": 365.45721435546875
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.19766566157341003,
                        "yaw": -0.167083740234375
                    }
                },
                "velocity": {
                    "x": 2.8548080921173096,
                    "y": -0.006736794486641884,
                    "z": -0.0011609458597376943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.864991664886475,
                "transform": {
                    "location": {
                        "x": 212.46522521972656,
                        "y": 5582.17041015625,
                        "z": 365.4164733886719
                    },
                    "rotation": {
                        "roll": 0.5610364079475403,
                        "pitch": -0.3356628119945526,
                        "yaw": -21.54836082458496
                    }
                },
                "velocity": {
                    "x": 5.086345195770264,
                    "y": -2.9200878143310547,
                    "z": -0.017503689974546432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.970964193344116,
                "transform": {
                    "location": {
                        "x": 209.1503143310547,
                        "y": 5586.7734375,
                        "z": 365.45562744140625
                    },
                    "rotation": {
                        "roll": -0.1659545749425888,
                        "pitch": 0.018789850175380707,
                        "yaw": -0.04150390625
                    }
                },
                "velocity": {
                    "x": 3.9708926677703857,
                    "y": -0.007843855768442154,
                    "z": -0.02252805605530739
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.04023614525794983,
        "expert_target_speed": 10.0,
        "target_point": [
            36.655569702915535,
            -0.32475119226110416
        ],
        "target_point_next": [
            37.65551712244899,
            -0.3352924745769259
        ]
    },
    "705": {
        "acceleration": [
            0.2653312683105469,
            0.06424734741449356,
            7.82310962677002e-06
        ],
        "angular_velocity": [
            -0.0024757457431405783,
            0.31243255734443665,
            -1.2796785831451416
        ],
        "forward_vector": [
            -0.9999834299087524,
            -0.004095422104001045,
            0.004043567925691605
        ],
        "right_vector": [
            0.004094096831977367,
            -0.9999915361404419,
            -0.0003358866670168936
        ],
        "location": [
            193.30601501464844,
            5580.26806640625,
            365.4623718261719
        ],
        "rotation": [
            0.019245045259594917,
            0.2316800057888031,
            -179.76535034179688
        ],
        "velocity": [
            -4.101088047027588,
            0.006603660993278027,
            0.013773612678050995
        ],
        "speed": 4.101093363703279,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 77.78141021728516,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 208.4755401611328,
                        "y": 5576.92431640625,
                        "z": 365.8075256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5672813653945923,
                "transform": {
                    "location": {
                        "x": 157.02749633789062,
                        "y": 5586.7998046875,
                        "z": 365.90185546875
                    },
                    "rotation": {
                        "roll": -0.0037231440655887127,
                        "pitch": -0.7999858856201172,
                        "yaw": -0.02761840634047985
                    }
                },
                "velocity": {
                    "x": 1.5670132637023926,
                    "y": 0.011618690565228462,
                    "z": -0.02655741199851036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5747570991516113,
                "transform": {
                    "location": {
                        "x": 157.45420837402344,
                        "y": 5583.55322265625,
                        "z": 365.9352111816406
                    },
                    "rotation": {
                        "roll": -0.005981444381177425,
                        "pitch": -0.7184743881225586,
                        "yaw": 0.08053263276815414
                    }
                },
                "velocity": {
                    "x": 2.5744335651397705,
                    "y": 0.021711885929107666,
                    "z": -0.03456556424498558
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8183434009552002,
                "transform": {
                    "location": {
                        "x": 176.54359436035156,
                        "y": 5583.5712890625,
                        "z": 365.6297912597656
                    },
                    "rotation": {
                        "roll": 0.0030731724109500647,
                        "pitch": -0.7675151228904724,
                        "yaw": 0.17146630585193634
                    }
                },
                "velocity": {
                    "x": 1.818161129951477,
                    "y": 0.004680231213569641,
                    "z": -0.025321077555418015
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.983970046043396,
                "transform": {
                    "location": {
                        "x": 176.14515686035156,
                        "y": 5586.8203125,
                        "z": 365.6429138183594
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.7220465540885925,
                        "yaw": 0.08349056541919708
                    }
                },
                "velocity": {
                    "x": 0.9838744401931763,
                    "y": 0.0017995241796597838,
                    "z": -0.013600234873592854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8219411373138428,
                "transform": {
                    "location": {
                        "x": 188.63812255859375,
                        "y": 5583.56787109375,
                        "z": 365.4949951171875
                    },
                    "rotation": {
                        "roll": 0.0027027444448322058,
                        "pitch": -0.04186905547976494,
                        "yaw": -0.1564330905675888
                    }
                },
                "velocity": {
                    "x": 2.8218834400177,
                    "y": -0.005971113685518503,
                    "z": -0.01701534166932106
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7748156785964966,
                "transform": {
                    "location": {
                        "x": 188.95335388183594,
                        "y": 5586.81982421875,
                        "z": 365.4941711425781
                    },
                    "rotation": {
                        "roll": 0.000424182100687176,
                        "pitch": -0.349452942609787,
                        "yaw": -0.1010742112994194
                    }
                },
                "velocity": {
                    "x": 1.7747875452041626,
                    "y": -0.004164295271039009,
                    "z": -0.009065704420208931
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.372828483581543,
                "transform": {
                    "location": {
                        "x": 202.29592895507812,
                        "y": 5583.5400390625,
                        "z": 365.46112060546875
                    },
                    "rotation": {
                        "roll": 0.0009231175063177943,
                        "pitch": -0.008728981018066406,
                        "yaw": -0.121063232421875
                    }
                },
                "velocity": {
                    "x": 4.372814655303955,
                    "y": -0.010679734870791435,
                    "z": 0.0022034263238310814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3575406074523926,
                "transform": {
                    "location": {
                        "x": 199.58203125,
                        "y": 5586.79443359375,
                        "z": 365.45697021484375
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": -0.01846200041472912,
                        "yaw": -0.1552429348230362
                    }
                },
                "velocity": {
                    "x": 2.3575339317321777,
                    "y": -0.005394350737333298,
                    "z": -0.001584281912073493
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.607711315155029,
                "transform": {
                    "location": {
                        "x": 213.77459716796875,
                        "y": 5581.375,
                        "z": 365.4100646972656
                    },
                    "rotation": {
                        "roll": 0.5883684158325195,
                        "pitch": 0.1845107227563858,
                        "yaw": -30.919349670410156
                    }
                },
                "velocity": {
                    "x": 5.140962600708008,
                    "y": -4.1511735916137695,
                    "z": 0.010536489076912403
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.37219762802124,
                "transform": {
                    "location": {
                        "x": 210.32530212402344,
                        "y": 5586.77099609375,
                        "z": 365.448974609375
                    },
                    "rotation": {
                        "roll": -0.1555785983800888,
                        "pitch": -0.3144140839576721,
                        "yaw": -0.0944518968462944
                    }
                },
                "velocity": {
                    "x": 5.3721232414245605,
                    "y": -0.011936597526073456,
                    "z": -0.025669822469353676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.038515739142894745,
        "expert_target_speed": 10.0,
        "target_point": [
            35.62212867078291,
            -0.17419716833673685
        ],
        "target_point_next": [
            36.62211028816686,
            -0.18073363210979937
        ]
    },
    "710": {
        "acceleration": [
            -0.012960433959960938,
            -0.022730929777026176,
            0.005534552037715912
        ],
        "angular_velocity": [
            -0.041968148201704025,
            0.07005613297224045,
            -0.07297587394714355
        ],
        "forward_vector": [
            -0.9999879002571106,
            -0.0013960757059976459,
            0.004717451054602861
        ],
        "right_vector": [
            0.0013954003807157278,
            -0.9999990463256836,
            -0.00014645178453065455
        ],
        "location": [
            192.28366088867188,
            5580.2685546875,
            365.4665832519531
        ],
        "rotation": [
            0.008391162380576134,
            0.2702910602092743,
            -179.92001342773438
        ],
        "velocity": [
            -4.0833258628845215,
            0.005393551662564278,
            0.019824037328362465
        ],
        "speed": 4.083329424979223,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.75910186767578,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 208.4833526611328,
                        "y": 5580.17431640625,
                        "z": 365.54296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.559688925743103,
                "transform": {
                    "location": {
                        "x": 208.4755401611328,
                        "y": 5576.92431640625,
                        "z": 365.4124450683594
                    },
                    "rotation": {
                        "roll": -0.005706786178052425,
                        "pitch": -0.04470358416438103,
                        "yaw": 179.8622283935547
                    }
                },
                "velocity": {
                    "x": 0.0003406188916414976,
                    "y": -4.515256659942679e-05,
                    "z": -0.5596888065338135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2095842361450195,
                "transform": {
                    "location": {
                        "x": 157.50491333007812,
                        "y": 5586.8037109375,
                        "z": 365.8944396972656
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.8072736859321594,
                        "yaw": -0.00677490234375
                    }
                },
                "velocity": {
                    "x": 2.209277868270874,
                    "y": 0.01715352199971676,
                    "z": -0.03255772590637207
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.974091053009033,
                "transform": {
                    "location": {
                        "x": 158.277099609375,
                        "y": 5583.55859375,
                        "z": 365.92327880859375
                    },
                    "rotation": {
                        "roll": -0.007537841331213713,
                        "pitch": -0.6876770853996277,
                        "yaw": 0.2289600968360901
                    }
                },
                "velocity": {
                    "x": 3.973529577255249,
                    "y": 0.034253086894750595,
                    "z": -0.05734505131840706
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.787311315536499,
                "transform": {
                    "location": {
                        "x": 176.6739044189453,
                        "y": 5583.5712890625,
                        "z": 365.6291809082031
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": -1.097898244857788,
                        "yaw": 0.19492851197719574
                    }
                },
                "velocity": {
                    "x": 0.7872437238693237,
                    "y": -0.0007295233081094921,
                    "z": -0.010287865996360779
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8680882453918457,
                "transform": {
                    "location": {
                        "x": 176.50453186035156,
                        "y": 5586.8203125,
                        "z": 365.6390075683594
                    },
                    "rotation": {
                        "roll": -0.003509521484375,
                        "pitch": -0.8618127107620239,
                        "yaw": 0.08482898771762848
                    }
                },
                "velocity": {
                    "x": 1.867909550666809,
                    "y": 0.0017231086967512965,
                    "z": -0.025780677795410156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.874269008636475,
                "transform": {
                    "location": {
                        "x": 189.62750244140625,
                        "y": 5583.56591796875,
                        "z": 365.48675537109375
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.21638721227645874,
                        "yaw": -0.1416931003332138
                    }
                },
                "velocity": {
                    "x": 4.874168395996094,
                    "y": -0.010045928880572319,
                    "z": -0.029658731073141098
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9290111064910889,
                "transform": {
                    "location": {
                        "x": 189.3866424560547,
                        "y": 5586.81884765625,
                        "z": 365.49224853515625
                    },
                    "rotation": {
                        "roll": 7.23733683116734e-05,
                        "pitch": -0.415678471326828,
                        "yaw": -0.1061096265912056
                    }
                },
                "velocity": {
                    "x": 1.928974986076355,
                    "y": -0.004371004179120064,
                    "z": -0.010967063717544079
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.205348014831543,
                "transform": {
                    "location": {
                        "x": 203.51828002929688,
                        "y": 5583.53662109375,
                        "z": 365.46240234375
                    },
                    "rotation": {
                        "roll": 0.000181168521521613,
                        "pitch": -0.047824982553720474,
                        "yaw": -0.12579345703125
                    }
                },
                "velocity": {
                    "x": 5.205328464508057,
                    "y": -0.013284478336572647,
                    "z": 0.004899453837424517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4837396144866943,
                "transform": {
                    "location": {
                        "x": 200.2906951904297,
                        "y": 5586.79296875,
                        "z": 365.456787109375
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.18825367093086243,
                        "yaw": -0.1462096869945526
                    }
                },
                "velocity": {
                    "x": 3.483729362487793,
                    "y": -0.008203470148146152,
                    "z": -0.00174487114418298
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.346906661987305,
                "transform": {
                    "location": {
                        "x": 215.06491088867188,
                        "y": 5580.20849609375,
                        "z": 365.41815185546875
                    },
                    "rotation": {
                        "roll": 0.5451885461807251,
                        "pitch": 0.32978883385658264,
                        "yaw": -43.12183380126953
                    }
                },
                "velocity": {
                    "x": 4.6480326652526855,
                    "y": -5.689501762390137,
                    "z": 0.04897632449865341
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.91557502746582,
                "transform": {
                    "location": {
                        "x": 211.739990234375,
                        "y": 5586.76806640625,
                        "z": 365.43304443359375
                    },
                    "rotation": {
                        "roll": -0.0401000939309597,
                        "pitch": -0.8943722248077393,
                        "yaw": 0.03761882707476616
                    }
                },
                "velocity": {
                    "x": 5.914119720458984,
                    "y": -0.0014018038054928184,
                    "z": -0.13121502101421356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.04330630600452423,
        "expert_target_speed": 10.0,
        "target_point": [
            34.60011662623403,
            -0.0761404654935545
        ],
        "target_point_next": [
            35.60011224289073,
            -0.07997806003446645
        ]
    },
    "715": {
        "acceleration": [
            -0.11972427368164062,
            0.014001689851284027,
            0.044416412711143494
        ],
        "angular_velocity": [
            0.022383786737918854,
            0.16836008429527283,
            -0.6372676491737366
        ],
        "forward_vector": [
            -0.9999877214431763,
            0.00014749186811968684,
            0.004961231257766485
        ],
        "right_vector": [
            -0.00014802353689447045,
            -1.0,
            -0.00010679996194085106
        ],
        "location": [
            191.26077270507812,
            5580.27001953125,
            365.4717102050781
        ],
        "rotation": [
            0.006119261961430311,
            0.28425878286361694,
            179.99154663085938
        ],
        "velocity": [
            -4.102673530578613,
            0.008168366737663746,
            0.02347385324537754
        ],
        "speed": 4.102681662123635,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.73625183105469,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1542789787054062,
                "transform": {
                    "location": {
                        "x": 208.48077392578125,
                        "y": 5580.17431640625,
                        "z": 365.4180908203125
                    },
                    "rotation": {
                        "roll": 0.003520696423947811,
                        "pitch": 0.20796558260917664,
                        "yaw": 179.86099243164062
                    }
                },
                "velocity": {
                    "x": 0.0013081558281555772,
                    "y": -5.5506581702502444e-05,
                    "z": 0.15427342057228088
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.22037559747695923,
                "transform": {
                    "location": {
                        "x": 208.4755401611328,
                        "y": 5576.92431640625,
                        "z": 365.43560791015625
                    },
                    "rotation": {
                        "roll": -0.005340574774891138,
                        "pitch": -0.045284152030944824,
                        "yaw": 179.86228942871094
                    }
                },
                "velocity": {
                    "x": -0.00013075854803901166,
                    "y": -1.2634410268219654e-05,
                    "z": 0.22037555277347565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7420880794525146,
                "transform": {
                    "location": {
                        "x": 158.12530517578125,
                        "y": 5586.80810546875,
                        "z": 365.8854064941406
                    },
                    "rotation": {
                        "roll": -0.0018005367601290345,
                        "pitch": -0.8095071315765381,
                        "yaw": -0.011077879928052425
                    }
                },
                "velocity": {
                    "x": 2.741727590560913,
                    "y": 0.021382199600338936,
                    "z": -0.03897981718182564
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.287443161010742,
                "transform": {
                    "location": {
                        "x": 159.4422607421875,
                        "y": 5583.56787109375,
                        "z": 365.9067077636719
                    },
                    "rotation": {
                        "roll": -0.009002685546875,
                        "pitch": -0.6857919096946716,
                        "yaw": 0.36094075441360474
                    }
                },
                "velocity": {
                    "x": 5.2867350578308105,
                    "y": 0.04672704264521599,
                    "z": -0.07283441722393036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5915600061416626,
                "transform": {
                    "location": {
                        "x": 176.98898315429688,
                        "y": 5583.57177734375,
                        "z": 365.6232604980469
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": -0.6721793413162231,
                        "yaw": 0.1446736752986908
                    }
                },
                "velocity": {
                    "x": 1.5914074182510376,
                    "y": 0.0015019540442153811,
                    "z": -0.021995820105075836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9610060453414917,
                "transform": {
                    "location": {
                        "x": 177.02804565429688,
                        "y": 5586.8212890625,
                        "z": 365.6315002441406
                    },
                    "rotation": {
                        "roll": -0.00238037109375,
                        "pitch": -0.8173481822013855,
                        "yaw": 0.07556723803281784
                    }
                },
                "velocity": {
                    "x": 1.9608116149902344,
                    "y": 0.0019139341311529279,
                    "z": -0.027546443045139313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.698985576629639,
                "transform": {
                    "location": {
                        "x": 190.9607696533203,
                        "y": 5583.5634765625,
                        "z": 365.481201171875
                    },
                    "rotation": {
                        "roll": -0.0026855471078306437,
                        "pitch": -0.08285702019929886,
                        "yaw": -0.1080322191119194
                    }
                },
                "velocity": {
                    "x": 5.698868751525879,
                    "y": -0.010038700886070728,
                    "z": -0.035102006047964096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0258402824401855,
                "transform": {
                    "location": {
                        "x": 189.9226531982422,
                        "y": 5586.81787109375,
                        "z": 365.4891357421875
                    },
                    "rotation": {
                        "roll": 0.0006239161593839526,
                        "pitch": -0.39816585183143616,
                        "yaw": -0.1064453125
                    }
                },
                "velocity": {
                    "x": 2.0257937908172607,
                    "y": -0.004630242008715868,
                    "z": -0.01292558666318655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.811978816986084,
                "transform": {
                    "location": {
                        "x": 204.7625732421875,
                        "y": 5583.5341796875,
                        "z": 365.4621887207031
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.04721709340810776,
                        "yaw": -0.1722106784582138
                    }
                },
                "velocity": {
                    "x": 4.811960220336914,
                    "y": -0.013128971680998802,
                    "z": 0.0024883269798010588
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.663639545440674,
                "transform": {
                    "location": {
                        "x": 201.34678649902344,
                        "y": 5586.7900390625,
                        "z": 365.4570617675781
                    },
                    "rotation": {
                        "roll": -6.103513442212716e-05,
                        "pitch": 0.28248295187950134,
                        "yaw": -0.13934326171875
                    }
                },
                "velocity": {
                    "x": 4.663626670837402,
                    "y": -0.01044576894491911,
                    "z": 0.003075885819271207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.942774295806885,
                "transform": {
                    "location": {
                        "x": 216.18319702148438,
                        "y": 5578.67041015625,
                        "z": 365.4318542480469
                    },
                    "rotation": {
                        "roll": 0.3427795469760895,
                        "pitch": 0.4399597942829132,
                        "yaw": -56.43989181518555
                    }
                },
                "velocity": {
                    "x": 3.5640809535980225,
                    "y": -7.097879409790039,
                    "z": 0.07137622684240341
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.517608642578125,
                "transform": {
                    "location": {
                        "x": 213.3867950439453,
                        "y": 5586.76611328125,
                        "z": 365.4006042480469
                    },
                    "rotation": {
                        "roll": -0.0403137169778347,
                        "pitch": -1.1365638971328735,
                        "yaw": -0.041717529296875
                    }
                },
                "velocity": {
                    "x": 7.517446517944336,
                    "y": -0.016043106094002724,
                    "z": -0.04673030227422714
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.04846566915512085,
        "expert_target_speed": 10.0,
        "target_point": [
            33.57730453545018,
            -0.021436228959975927
        ],
        "target_point_next": [
            34.577304883197215,
            -0.02373078126433195
        ]
    },
    "720": {
        "acceleration": [
            -0.16180038452148438,
            0.012259762734174728,
            -0.0128990039229393
        ],
        "angular_velocity": [
            0.021356258541345596,
            0.37263163924217224,
            0.09278897196054459
        ],
        "forward_vector": [
            -0.9999787211418152,
            0.001189358183182776,
            0.006409720052033663
        ],
        "right_vector": [
            -0.0011898750672116876,
            -0.9999992847442627,
            -7.68316094763577e-05
        ],
        "location": [
            190.22984313964844,
            5580.27197265625,
            365.4784240722656
        ],
        "rotation": [
            0.0044022174552083015,
            0.3672524094581604,
            179.93185424804688
        ],
        "velocity": [
            -4.139444828033447,
            0.010631200857460499,
            0.029235677793622017
        ],
        "speed": 4.139458479893781,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.70532989501953,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1237925291061401,
                "transform": {
                    "location": {
                        "x": 208.39553833007812,
                        "y": 5580.173828125,
                        "z": 365.4468994140625
                    },
                    "rotation": {
                        "roll": -0.0032958975061774254,
                        "pitch": 0.3058285415172577,
                        "yaw": 179.95449829101562
                    }
                },
                "velocity": {
                    "x": -1.1218008995056152,
                    "y": -0.00849260576069355,
                    "z": 0.06633438169956207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4636085331439972,
                "transform": {
                    "location": {
                        "x": 208.4686737060547,
                        "y": 5576.92431640625,
                        "z": 365.4639892578125
                    },
                    "rotation": {
                        "roll": -0.00469970703125,
                        "pitch": -0.060604266822338104,
                        "yaw": 179.86557006835938
                    }
                },
                "velocity": {
                    "x": -0.46223944425582886,
                    "y": -0.006102792918682098,
                    "z": 0.03507580608129501
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.339690923690796,
                "transform": {
                    "location": {
                        "x": 158.888671875,
                        "y": 5586.81298828125,
                        "z": 365.87445068359375
                    },
                    "rotation": {
                        "roll": -0.002960205078125,
                        "pitch": -0.8098759651184082,
                        "yaw": 0.10813525319099426
                    }
                },
                "velocity": {
                    "x": 3.339226007461548,
                    "y": 0.027411920949816704,
                    "z": -0.048505816608667374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.627331733703613,
                "transform": {
                    "location": {
                        "x": 160.78468322753906,
                        "y": 5583.57861328125,
                        "z": 365.8880310058594
                    },
                    "rotation": {
                        "roll": -0.010253907181322575,
                        "pitch": -0.7648035883903503,
                        "yaw": 0.47222137451171875
                    }
                },
                "velocity": {
                    "x": 5.626506328582764,
                    "y": 0.05131864547729492,
                    "z": -0.08158121258020401
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.4033846855163574,
                "transform": {
                    "location": {
                        "x": 177.5077362060547,
                        "y": 5583.572265625,
                        "z": 365.6154479980469
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.5030502080917358,
                        "yaw": 0.11187446117401123
                    }
                },
                "velocity": {
                    "x": 2.4031567573547363,
                    "y": 0.0021684712264686823,
                    "z": -0.03303628787398338
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9758474826812744,
                "transform": {
                    "location": {
                        "x": 177.4879608154297,
                        "y": 5586.8212890625,
                        "z": 365.624755859375
                    },
                    "rotation": {
                        "roll": -0.0030822751577943563,
                        "pitch": -0.7858883738517761,
                        "yaw": 0.07255131006240845
                    }
                },
                "velocity": {
                    "x": 1.9756649732589722,
                    "y": 0.00238451617769897,
                    "z": -0.02674996294081211
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.306711196899414,
                "transform": {
                    "location": {
                        "x": 192.4099884033203,
                        "y": 5583.56494140625,
                        "z": 365.4735412597656
                    },
                    "rotation": {
                        "roll": 0.016975628212094307,
                        "pitch": -0.15734705328941345,
                        "yaw": -0.9468689560890198
                    }
                },
                "velocity": {
                    "x": 6.306560516357422,
                    "y": -0.030073057860136032,
                    "z": -0.03154752776026726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6198410987854004,
                "transform": {
                    "location": {
                        "x": 190.12960815429688,
                        "y": 5586.8173828125,
                        "z": 365.4865417480469
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.2496912181377411,
                        "yaw": -0.0901794359087944
                    }
                },
                "velocity": {
                    "x": 0.61983323097229,
                    "y": -0.0005785587127320468,
                    "z": -0.003071422455832362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.613099575042725,
                "transform": {
                    "location": {
                        "x": 205.933349609375,
                        "y": 5583.53125,
                        "z": 365.462890625
                    },
                    "rotation": {
                        "roll": 0.0004615015641320497,
                        "pitch": 0.05683400109410286,
                        "yaw": -0.1639098972082138
                    }
                },
                "velocity": {
                    "x": 4.61307954788208,
                    "y": -0.01348086167126894,
                    "z": 0.002350559225305915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.468384265899658,
                "transform": {
                    "location": {
                        "x": 202.4451446533203,
                        "y": 5586.78662109375,
                        "z": 365.457763671875
                    },
                    "rotation": {
                        "roll": 3.3139196602860466e-05,
                        "pitch": 0.07425781339406967,
                        "yaw": -0.1391906887292862
                    }
                },
                "velocity": {
                    "x": 4.468369960784912,
                    "y": -0.010875587351620197,
                    "z": 0.003003415884450078
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.56046199798584,
                "transform": {
                    "location": {
                        "x": 217.0263214111328,
                        "y": 5576.7978515625,
                        "z": 365.4499816894531
                    },
                    "rotation": {
                        "roll": 0.14385686814785004,
                        "pitch": 0.5759556889533997,
                        "yaw": -68.93729400634766
                    }
                },
                "velocity": {
                    "x": 2.4736485481262207,
                    "y": -8.195144653320312,
                    "z": 0.0466429777443409
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.836627960205078,
                "transform": {
                    "location": {
                        "x": 215.44781494140625,
                        "y": 5586.76123046875,
                        "z": 365.3702697753906
                    },
                    "rotation": {
                        "roll": 0.43438148498535156,
                        "pitch": 0.2030000388622284,
                        "yaw": -0.1046447679400444
                    }
                },
                "velocity": {
                    "x": 8.83464241027832,
                    "y": -0.0068319253623485565,
                    "z": -0.18720181286334991
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.046363938599824905,
        "expert_target_speed": 10.0,
        "target_point": [
            32.54637747939029,
            0.014290739805442002
        ],
        "target_point_next": [
            33.546379675636665,
            0.01303855494918419
        ]
    },
    "725": {
        "acceleration": [
            -0.12612342834472656,
            0.014064833521842957,
            -0.012768544256687164
        ],
        "angular_velocity": [
            0.0448983758687973,
            0.31669971346855164,
            -0.517678439617157
        ],
        "forward_vector": [
            -0.9999663829803467,
            0.002195915672928095,
            0.007907189428806305
        ],
        "right_vector": [
            -0.0021967501379549503,
            -0.999997615814209,
            -9.685388795332983e-05
        ],
        "location": [
            189.18960571289062,
            5580.27490234375,
            365.4853820800781
        ],
        "rotation": [
            0.005549492314457893,
            0.4530532658100128,
            179.87417602539062
        ],
        "velocity": [
            -4.173283576965332,
            0.014395595528185368,
            0.028874235227704048
        ],
        "speed": 4.173308405442757,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.66510009765625,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1732780933380127,
                "transform": {
                    "location": {
                        "x": 207.97499084472656,
                        "y": 5580.17041015625,
                        "z": 365.456787109375
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 0.20052067935466766,
                        "yaw": -179.8910675048828
                    }
                },
                "velocity": {
                    "x": -2.173041820526123,
                    "y": -0.016753902658820152,
                    "z": 0.027316683903336525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7044479846954346,
                "transform": {
                    "location": {
                        "x": 207.991943359375,
                        "y": 5576.92041015625,
                        "z": 365.4666748046875
                    },
                    "rotation": {
                        "roll": 0.009445251896977425,
                        "pitch": -0.22787559032440186,
                        "yaw": -179.951904296875
                    }
                },
                "velocity": {
                    "x": -2.704270601272583,
                    "y": -0.03056895174086094,
                    "z": -0.004916334059089422
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.1000871658325195,
                "transform": {
                    "location": {
                        "x": 159.8164825439453,
                        "y": 5586.8193359375,
                        "z": 365.8609619140625
                    },
                    "rotation": {
                        "roll": -0.006317139137536287,
                        "pitch": -0.8052383065223694,
                        "yaw": 0.26845887303352356
                    }
                },
                "velocity": {
                    "x": 4.099511623382568,
                    "y": 0.03553355112671852,
                    "z": -0.05879644304513931
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.203370571136475,
                "transform": {
                    "location": {
                        "x": 162.29945373535156,
                        "y": 5583.587890625,
                        "z": 365.8656311035156
                    },
                    "rotation": {
                        "roll": 0.001069467281922698,
                        "pitch": -0.6625078320503235,
                        "yaw": 0.33990421891212463
                    }
                },
                "velocity": {
                    "x": 7.202601909637451,
                    "y": 0.02584340237081051,
                    "z": -0.10201512277126312
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.010746653191745281,
                "transform": {
                    "location": {
                        "x": 177.875,
                        "y": 5583.57373046875,
                        "z": 365.61334228515625
                    },
                    "rotation": {
                        "roll": 1.5073195754666813e-05,
                        "pitch": -1.3014788627624512,
                        "yaw": -0.011169432662427425
                    }
                },
                "velocity": {
                    "x": 0.010708047077059746,
                    "y": 0.0008456803625449538,
                    "z": -0.0003363165305927396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9976942539215088,
                "transform": {
                    "location": {
                        "x": 178.02398681640625,
                        "y": 5586.822265625,
                        "z": 365.6175231933594
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": -0.7970283627510071,
                        "yaw": 0.07045921683311462
                    }
                },
                "velocity": {
                    "x": 1.99749755859375,
                    "y": 0.0025150065775960684,
                    "z": -0.027916397899389267
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8059654235839844,
                "transform": {
                    "location": {
                        "x": 193.47679138183594,
                        "y": 5583.5498046875,
                        "z": 365.47552490234375
                    },
                    "rotation": {
                        "roll": 0.01233279425650835,
                        "pitch": -0.9608163237571716,
                        "yaw": -0.0333862267434597
                    }
                },
                "velocity": {
                    "x": 2.8059000968933105,
                    "y": -0.0182760339230299,
                    "z": -0.0057046604342758656
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5523884296417236,
                "transform": {
                    "location": {
                        "x": 190.41123962402344,
                        "y": 5586.81689453125,
                        "z": 365.4862060546875
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": -0.4101869761943817,
                        "yaw": -0.1116332933306694
                    }
                },
                "velocity": {
                    "x": 1.5523632764816284,
                    "y": -0.0032315764110535383,
                    "z": -0.008214120753109455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.364232540130615,
                "transform": {
                    "location": {
                        "x": 207.05233764648438,
                        "y": 5583.52783203125,
                        "z": 365.4635925292969
                    },
                    "rotation": {
                        "roll": 0.0008094912045635283,
                        "pitch": 0.05931336060166359,
                        "yaw": -0.155364990234375
                    }
                },
                "velocity": {
                    "x": 4.364218711853027,
                    "y": -0.010656941682100296,
                    "z": 0.0023301125038415194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.935141086578369,
                "transform": {
                    "location": {
                        "x": 203.69265747070312,
                        "y": 5586.7841796875,
                        "z": 365.4588928222656
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": 0.14913716912269592,
                        "yaw": -0.0297241173684597
                    }
                },
                "velocity": {
                    "x": 4.935122489929199,
                    "y": -0.012906169518828392,
                    "z": 0.004300880245864391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.302967071533203,
                "transform": {
                    "location": {
                        "x": 217.58718872070312,
                        "y": 5574.6416015625,
                        "z": 365.46490478515625
                    },
                    "rotation": {
                        "roll": 0.09878956526517868,
                        "pitch": 0.21689946949481964,
                        "yaw": -78.58353424072266
                    }
                },
                "velocity": {
                    "x": 1.449695110321045,
                    "y": -9.189055442810059,
                    "z": 0.0695464089512825
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.0615816116333,
                "transform": {
                    "location": {
                        "x": 217.81179809570312,
                        "y": 5586.75732421875,
                        "z": 365.3666687011719
                    },
                    "rotation": {
                        "roll": 0.4278552830219269,
                        "pitch": 0.2602643370628357,
                        "yaw": -0.144927978515625
                    }
                },
                "velocity": {
                    "x": 10.061541557312012,
                    "y": -0.022286856546998024,
                    "z": 0.017522849142551422
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.053081534802913666,
        "expert_target_speed": 10.0,
        "target_point": [
            31.506105276215127,
            0.047682497612878474
        ],
        "target_point_next": [
            32.50610822617129,
            0.04743644183416894
        ]
    },
    "730": {
        "acceleration": [
            -0.0601959228515625,
            -0.028502345085144043,
            0.04413142800331116
        ],
        "angular_velocity": [
            -0.03191150352358818,
            0.014383325353264809,
            0.32866761088371277
        ],
        "forward_vector": [
            -0.9999560117721558,
            0.0026615066453814507,
            0.008999703451991081
        ],
        "right_vector": [
            -0.002661642385646701,
            -0.9999964833259583,
            -3.1099341413209913e-06
        ],
        "location": [
            188.14163208007812,
            5580.27880859375,
            365.49267578125
        ],
        "rotation": [
            0.00017819332424551249,
            0.5156519412994385,
            179.84750366210938
        ],
        "velocity": [
            -4.200901508331299,
            0.010883758775889874,
            0.03378121182322502
        ],
        "speed": 4.20091560721056,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.61712646484375,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6932661533355713,
                "transform": {
                    "location": {
                        "x": 207.2478790283203,
                        "y": 5580.16357421875,
                        "z": 365.46014404296875
                    },
                    "rotation": {
                        "roll": -0.005798339378088713,
                        "pitch": 0.16673174500465393,
                        "yaw": -179.71275329589844
                    }
                },
                "velocity": {
                    "x": -3.693119525909424,
                    "y": -0.032776158303022385,
                    "z": -0.003107519121840596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.798917531967163,
                "transform": {
                    "location": {
                        "x": 207.17491149902344,
                        "y": 5576.9130859375,
                        "z": 365.4649963378906
                    },
                    "rotation": {
                        "roll": 0.0029618265107274055,
                        "pitch": -0.16079629957675934,
                        "yaw": -179.75982666015625
                    }
                },
                "velocity": {
                    "x": -3.7986674308776855,
                    "y": -0.04327124357223511,
                    "z": -0.005241498816758394
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.076612949371338,
                "transform": {
                    "location": {
                        "x": 160.96585083007812,
                        "y": 5586.82861328125,
                        "z": 365.8443603515625
                    },
                    "rotation": {
                        "roll": -0.008514403365552425,
                        "pitch": -0.7950407862663269,
                        "yaw": 0.3989405930042267
                    }
                },
                "velocity": {
                    "x": 5.075957775115967,
                    "y": 0.04630741477012634,
                    "z": -0.06713708490133286
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.3594889640808105,
                "transform": {
                    "location": {
                        "x": 164.19593811035156,
                        "y": 5583.595703125,
                        "z": 365.8394470214844
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": -0.7459385991096497,
                        "yaw": 0.2226312756538391
                    }
                },
                "velocity": {
                    "x": 7.35872220993042,
                    "y": 0.022440562024712563,
                    "z": -0.1038251593708992
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.177746057510376,
                "transform": {
                    "location": {
                        "x": 178.060546875,
                        "y": 5583.57373046875,
                        "z": 365.6090393066406
                    },
                    "rotation": {
                        "roll": 0.0013024962972849607,
                        "pitch": -0.8528447151184082,
                        "yaw": 0.004689846653491259
                    }
                },
                "velocity": {
                    "x": 1.177634596824646,
                    "y": 0.0011794109595939517,
                    "z": -0.016162356361746788
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0033726692199707,
                "transform": {
                    "location": {
                        "x": 178.49124145507812,
                        "y": 5586.822265625,
                        "z": 365.61083984375
                    },
                    "rotation": {
                        "roll": -0.002838134067133069,
                        "pitch": -0.783197283744812,
                        "yaw": 0.06599850207567215
                    }
                },
                "velocity": {
                    "x": 2.003190517425537,
                    "y": 0.0014642206951975822,
                    "z": -0.026970800012350082
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.4398932456970215,
                "transform": {
                    "location": {
                        "x": 194.42445373535156,
                        "y": 5583.548828125,
                        "z": 365.46728515625
                    },
                    "rotation": {
                        "roll": -0.0115966796875,
                        "pitch": -0.1311669498682022,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 4.43988561630249,
                    "y": -0.004224693402647972,
                    "z": -0.00729617103934288
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.40826153755188,
                "transform": {
                    "location": {
                        "x": 190.9113311767578,
                        "y": 5586.81591796875,
                        "z": 365.4832763671875
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -0.403199702501297,
                        "yaw": -0.12499997764825821
                    }
                },
                "velocity": {
                    "x": 2.4082131385803223,
                    "y": -0.005155268125236034,
                    "z": -0.014375399798154831
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.170698165893555,
                "transform": {
                    "location": {
                        "x": 208.11936950683594,
                        "y": 5583.525390625,
                        "z": 365.4622497558594
                    },
                    "rotation": {
                        "roll": 0.00024261038925033063,
                        "pitch": -0.027122680097818375,
                        "yaw": -0.1542663723230362
                    }
                },
                "velocity": {
                    "x": 4.17050838470459,
                    "y": -0.011145137250423431,
                    "z": -0.03820199519395828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.008517265319824,
                "transform": {
                    "location": {
                        "x": 204.90585327148438,
                        "y": 5586.7822265625,
                        "z": 365.45941162109375
                    },
                    "rotation": {
                        "roll": -0.013732911087572575,
                        "pitch": -0.06567226350307465,
                        "yaw": 0.35888078808784485
                    }
                },
                "velocity": {
                    "x": 4.0085062980651855,
                    "y": 0.009498248808085918,
                    "z": -0.0005603694589808583
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.036428451538086,
                "transform": {
                    "location": {
                        "x": 217.88218688964844,
                        "y": 5572.2421875,
                        "z": 365.4772033691406
                    },
                    "rotation": {
                        "roll": 0.14132998883724213,
                        "pitch": 0.40799450874328613,
                        "yaw": -85.89189910888672
                    }
                },
                "velocity": {
                    "x": 0.4942808449268341,
                    "y": -10.024063110351562,
                    "z": 0.06118382140994072
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.721199035644531,
                "transform": {
                    "location": {
                        "x": 220.46875,
                        "y": 5586.7509765625,
                        "z": 365.39691162109375
                    },
                    "rotation": {
                        "roll": 0.3019930124282837,
                        "pitch": 1.4525762796401978,
                        "yaw": -0.1681823581457138
                    }
                },
                "velocity": {
                    "x": 10.719983100891113,
                    "y": -0.03504016622900963,
                    "z": 0.15762050449848175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.05742574483156204,
        "expert_target_speed": 10.0,
        "target_point": [
            30.45809932614924,
            0.0634775931274667
        ],
        "target_point_next": [
            31.458102282217684,
            0.06369740863646703
        ]
    },
    "735": {
        "acceleration": [
            0.15598297119140625,
            -0.004410110414028168,
            0.016212984919548035
        ],
        "angular_velocity": [
            0.03172450512647629,
            -0.09843383729457855,
            -0.26047953963279724
        ],
        "forward_vector": [
            -0.9999598264694214,
            0.0024929605424404144,
            0.008611929602921009
        ],
        "right_vector": [
            -0.002492828294634819,
            -0.9999969005584717,
            2.609800321806688e-05
        ],
        "location": [
            187.095458984375,
            5580.2802734375,
            365.5016784667969
        ],
        "rotation": [
            -0.0014953608624637127,
            0.4934333264827728,
            179.85716247558594
        ],
        "velocity": [
            -4.165894508361816,
            0.008972837589681149,
            0.03709458187222481
        ],
        "speed": 4.165904171559105,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.57093811035156,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.130446434020996,
                "transform": {
                    "location": {
                        "x": 206.1328125,
                        "y": 5580.15283203125,
                        "z": 365.4591369628906
                    },
                    "rotation": {
                        "roll": -0.004547118209302425,
                        "pitch": 0.18932600319385529,
                        "yaw": -179.5407257080078
                    }
                },
                "velocity": {
                    "x": -5.13018798828125,
                    "y": -0.051486510783433914,
                    "z": -0.0002251624973723665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.915713787078857,
                "transform": {
                    "location": {
                        "x": 206.0779571533203,
                        "y": 5576.90185546875,
                        "z": 365.46392822265625
                    },
                    "rotation": {
                        "roll": 0.0018084498587995768,
                        "pitch": -0.14977921545505524,
                        "yaw": -179.58419799804688
                    }
                },
                "velocity": {
                    "x": -4.915388107299805,
                    "y": -0.056520428508520126,
                    "z": -0.002789153950288892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.455362796783447,
                "transform": {
                    "location": {
                        "x": 162.28695678710938,
                        "y": 5586.8359375,
                        "z": 365.8258972167969
                    },
                    "rotation": {
                        "roll": -0.00396728515625,
                        "pitch": -0.7989203333854675,
                        "yaw": 0.30952760577201843
                    }
                },
                "velocity": {
                    "x": 5.454771518707275,
                    "y": 0.02332310937345028,
                    "z": -0.07685129344463348
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.656547546386719,
                "transform": {
                    "location": {
                        "x": 165.80726623535156,
                        "y": 5583.60107421875,
                        "z": 365.8190002441406
                    },
                    "rotation": {
                        "roll": -0.0033569333609193563,
                        "pitch": -0.9959713220596313,
                        "yaw": 0.14585281908512115
                    }
                },
                "velocity": {
                    "x": 4.655979633331299,
                    "y": 0.015556605532765388,
                    "z": -0.07103289663791656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.081984281539917,
                "transform": {
                    "location": {
                        "x": 178.47506713867188,
                        "y": 5583.57373046875,
                        "z": 365.602294921875
                    },
                    "rotation": {
                        "roll": 0.0011890060268342495,
                        "pitch": -0.5512098670005798,
                        "yaw": 0.009280719794332981
                    }
                },
                "velocity": {
                    "x": 2.0817923545837402,
                    "y": 0.00014237465802580118,
                    "z": -0.028272060677409172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7460503578186035,
                "transform": {
                    "location": {
                        "x": 178.9892120361328,
                        "y": 5586.8232421875,
                        "z": 365.60394287109375
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.7726719379425049,
                        "yaw": 0.06306540966033936
                    }
                },
                "velocity": {
                    "x": 1.7458819150924683,
                    "y": 0.0012483360478654504,
                    "z": -0.024220842868089676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.035869121551514,
                "transform": {
                    "location": {
                        "x": 195.6570281982422,
                        "y": 5583.54736328125,
                        "z": 365.46185302734375
                    },
                    "rotation": {
                        "roll": -0.0023803713265806437,
                        "pitch": 0.22747260332107544,
                        "yaw": -0.0181884765625
                    }
                },
                "velocity": {
                    "x": 5.035855770111084,
                    "y": -0.003215682925656438,
                    "z": -0.011204157024621964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3970394134521484,
                "transform": {
                    "location": {
                        "x": 191.638427734375,
                        "y": 5586.814453125,
                        "z": 365.4786376953125
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": -0.36276498436927795,
                        "yaw": -0.1267089694738388
                    }
                },
                "velocity": {
                    "x": 3.3969812393188477,
                    "y": -0.007354713045060635,
                    "z": -0.018462833017110825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.080512523651123,
                "transform": {
                    "location": {
                        "x": 209.13726806640625,
                        "y": 5583.5224609375,
                        "z": 365.4534606933594
                    },
                    "rotation": {
                        "roll": 9.017595584737137e-05,
                        "pitch": -0.35922011733055115,
                        "yaw": -0.14617919921875
                    }
                },
                "velocity": {
                    "x": 4.08022928237915,
                    "y": -0.010903064161539078,
                    "z": -0.046804022043943405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.457244873046875,
                "transform": {
                    "location": {
                        "x": 205.9332733154297,
                        "y": 5586.783203125,
                        "z": 365.4599914550781
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.02564735896885395,
                        "yaw": 0.259127140045166
                    }
                },
                "velocity": {
                    "x": 4.457244396209717,
                    "y": -0.0003757066442631185,
                    "z": 0.0018775367643684149
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.89516830444336,
                "transform": {
                    "location": {
                        "x": 217.94874572753906,
                        "y": 5569.625,
                        "z": 365.49615478515625
                    },
                    "rotation": {
                        "roll": 0.07388918101787567,
                        "pitch": 0.47483471035957336,
                        "yaw": -90.62461853027344
                    }
                },
                "velocity": {
                    "x": -0.16216407716274261,
                    "y": -10.893630027770996,
                    "z": 0.08495454490184784
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.134400367736816,
                "transform": {
                    "location": {
                        "x": 223.34210205078125,
                        "y": 5586.74365234375,
                        "z": 365.4535827636719
                    },
                    "rotation": {
                        "roll": 0.06900911033153534,
                        "pitch": 1.0688152313232422,
                        "yaw": -0.18194580078125
                    }
                },
                "velocity": {
                    "x": 12.132204055786133,
                    "y": -0.04494757950305939,
                    "z": 0.22650979459285736
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.05268203467130661,
        "expert_target_speed": 10.0,
        "target_point": [
            29.411936082768598,
            0.0572076224438244
        ],
        "target_point_next": [
            30.411939061670715,
            0.05725911393608406
        ]
    },
    "740": {
        "acceleration": [
            0.14322280883789062,
            -0.010665897279977798,
            0.026017576456069946
        ],
        "angular_velocity": [
            0.008662395179271698,
            0.28837820887565613,
            0.46405550837516785
        ],
        "forward_vector": [
            -0.9999570846557617,
            0.0018635528394952416,
            0.009075754322111607
        ],
        "right_vector": [
            -0.0018629044061526656,
            -0.9999982714653015,
            7.989152800291777e-05
        ],
        "location": [
            186.0584259033203,
            5580.2822265625,
            365.5115051269531
        ],
        "rotation": [
            -0.004577635787427425,
            0.5200095772743225,
            179.89321899414062
        ],
        "velocity": [
            -4.129113674163818,
            0.00435245968401432,
            0.04355417191982269
        ],
        "speed": 4.129115968106482,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.53387451171875,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53280639648438,
                5580.39697265625,
                366.5844421386719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5818305015563965,
                "transform": {
                    "location": {
                        "x": 204.76242065429688,
                        "y": 5580.1435546875,
                        "z": 365.45806884765625
                    },
                    "rotation": {
                        "roll": 0.005270726513117552,
                        "pitch": 0.07048071920871735,
                        "yaw": -179.60324096679688
                    }
                },
                "velocity": {
                    "x": -5.581739902496338,
                    "y": -0.0314919613301754,
                    "z": -0.004298753570765257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.277960300445557,
                "transform": {
                    "location": {
                        "x": 204.7765655517578,
                        "y": 5576.8935546875,
                        "z": 365.4629211425781
                    },
                    "rotation": {
                        "roll": -0.004241943359375,
                        "pitch": -0.09011751413345337,
                        "yaw": -179.6212615966797
                    }
                },
                "velocity": {
                    "x": -5.277907371520996,
                    "y": -0.023579230532050133,
                    "z": -0.0020128535106778145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.529531002044678,
                "transform": {
                    "location": {
                        "x": 163.7633514404297,
                        "y": 5586.8427734375,
                        "z": 365.8046875
                    },
                    "rotation": {
                        "roll": -0.004089354537427425,
                        "pitch": -0.7719069719314575,
                        "yaw": 0.22994796931743622
                    }
                },
                "velocity": {
                    "x": 6.528839588165283,
                    "y": 0.022977355867624283,
                    "z": -0.09220690280199051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.002344646258279681,
                "transform": {
                    "location": {
                        "x": 166.20022583007812,
                        "y": 5583.60302734375,
                        "z": 365.81561279296875
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -1.2673619985580444,
                        "yaw": 0.08258236199617386
                    }
                },
                "velocity": {
                    "x": -0.0017411839216947556,
                    "y": -5.74185251025483e-05,
                    "z": 0.0015691871521994472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.260589599609375,
                "transform": {
                    "location": {
                        "x": 179.13710021972656,
                        "y": 5583.57373046875,
                        "z": 365.5924987792969
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": -0.38449183106422424,
                        "yaw": 0.014740278013050556
                    }
                },
                "velocity": {
                    "x": 3.26027512550354,
                    "y": 0.0019183880649507046,
                    "z": -0.04523557424545288
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.030350923538208,
                "transform": {
                    "location": {
                        "x": 179.43429565429688,
                        "y": 5586.8232421875,
                        "z": 365.5979919433594
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.7984285950660706,
                        "yaw": 0.06082934886217117
                    }
                },
                "velocity": {
                    "x": 2.0301895141601562,
                    "y": 0.0012995284050703049,
                    "z": -0.025556035339832306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.512515544891357,
                "transform": {
                    "location": {
                        "x": 196.962646484375,
                        "y": 5583.5458984375,
                        "z": 365.4608459472656
                    },
                    "rotation": {
                        "roll": 0.002415344351902604,
                        "pitch": 0.02317482978105545,
                        "yaw": -0.00115966796875
                    }
                },
                "velocity": {
                    "x": 5.512501239776611,
                    "y": -0.009690561331808567,
                    "z": -0.008037843741476536
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.5237226486206055,
                "transform": {
                    "location": {
                        "x": 192.63343811035156,
                        "y": 5586.8125,
                        "z": 365.47406005859375
                    },
                    "rotation": {
                        "roll": -9.155275620287284e-05,
                        "pitch": -0.3794238269329071,
                        "yaw": -0.126373291015625
                    }
                },
                "velocity": {
                    "x": 4.5236663818359375,
                    "y": -0.010004494339227676,
                    "z": -0.020232539623975754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0190887451171875,
                "transform": {
                    "location": {
                        "x": 210.26795959472656,
                        "y": 5583.52001953125,
                        "z": 365.4452209472656
                    },
                    "rotation": {
                        "roll": 0.00144560809712857,
                        "pitch": -0.785519540309906,
                        "yaw": -0.1437378078699112
                    }
                },
                "velocity": {
                    "x": 5.018826484680176,
                    "y": -0.012761789374053478,
                    "z": -0.049699123948812485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.495803356170654,
                "transform": {
                    "location": {
                        "x": 207.11233520507812,
                        "y": 5586.78173828125,
                        "z": 365.4608154296875
                    },
                    "rotation": {
                        "roll": 0.004071539267897606,
                        "pitch": 0.04865143448114395,
                        "yaw": 0.06969359517097473
                    }
                },
                "velocity": {
                    "x": 4.495798110961914,
                    "y": -0.00653824070468545,
                    "z": 0.0020146656315773726
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.766136169433594,
                "transform": {
                    "location": {
                        "x": 217.88101196289062,
                        "y": 5566.7900390625,
                        "z": 365.51873779296875
                    },
                    "rotation": {
                        "roll": 0.017058132216334343,
                        "pitch": 0.4764876365661621,
                        "yaw": -92.34478759765625
                    }
                },
                "velocity": {
                    "x": -0.4247286021709442,
                    "y": -11.758106231689453,
                    "z": 0.0921635627746582
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.099297523498535,
                "transform": {
                    "location": {
                        "x": 226.49655151367188,
                        "y": 5586.73291015625,
                        "z": 365.48162841796875
                    },
                    "rotation": {
                        "roll": -0.010437010787427425,
                        "pitch": 0.209816575050354,
                        "yaw": -0.1707763522863388
                    }
                },
                "velocity": {
                    "x": 13.099231719970703,
                    "y": -0.04126759618520737,
                    "z": 0.0010956668993458152
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5828857421875
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.53280639648438,
                        "y": 5580.39697265625,
                        "z": 366.5844421386719
                    },
                    "rotation": {
                        "roll": 2.084682565461904e-10,
                        "pitch": 0.9295203685760498,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.05246810242533684,
        "expert_target_speed": 10.0,
        "target_point": [
            28.374931344443343,
            0.03871564811697333
        ],
        "target_point_next": [
            29.37493415766696,
            0.038137712716770036
        ]
    },
    "745": {
        "acceleration": [
            0.12450218200683594,
            0.02287955954670906,
            -0.022688284516334534
        ],
        "angular_velocity": [
            0.05929343029856682,
            0.3156071901321411,
            -0.4691935181617737
        ],
        "forward_vector": [
            -0.9999435544013977,
            0.001837541232816875,
            0.010468410328030586
        ],
        "right_vector": [
            -0.0018384538125246763,
            -0.9999983310699463,
            -7.75548251112923e-05
        ],
        "location": [
            185.02992248535156,
            5580.2841796875,
            365.522216796875
        ],
        "rotation": [
            0.004443807527422905,
            0.5998066663742065,
            179.89471435546875
        ],
        "velocity": [
            -4.096343994140625,
            0.010230271145701408,
            0.04403087496757507
        ],
        "speed": 4.096356768737274,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.5053482055664,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53273010253906,
                5580.39697265625,
                366.5809020996094
            ],
            "velocity": [
                -0.0004886650713160634,
                -0.0002893259807024151,
                -0.04446117952466011
            ],
            "speed_kmh": 0.16007330221456728,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.320214748382568,
                "transform": {
                    "location": {
                        "x": 203.20523071289062,
                        "y": 5580.134765625,
                        "z": 365.4571838378906
                    },
                    "rotation": {
                        "roll": 0.003095940686762333,
                        "pitch": 0.21507582068443298,
                        "yaw": -179.63096618652344
                    }
                },
                "velocity": {
                    "x": -7.320109844207764,
                    "y": -0.03877415880560875,
                    "z": -0.0057234191335737705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.841832160949707,
                "transform": {
                    "location": {
                        "x": 203.3507843017578,
                        "y": 5576.88623046875,
                        "z": 365.4619140625
                    },
                    "rotation": {
                        "roll": -0.0012512204702943563,
                        "pitch": -0.07946924865245819,
                        "yaw": -179.71617126464844
                    }
                },
                "velocity": {
                    "x": -5.841775894165039,
                    "y": -0.025473130866885185,
                    "z": -0.0024852848146110773
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.607316970825195,
                "transform": {
                    "location": {
                        "x": 165.52882385253906,
                        "y": 5586.84912109375,
                        "z": 365.77984619140625
                    },
                    "rotation": {
                        "roll": -0.005737304221838713,
                        "pitch": -0.7671189904212952,
                        "yaw": 0.207828551530838
                    }
                },
                "velocity": {
                    "x": 7.606534481048584,
                    "y": 0.02401609532535076,
                    "z": -0.10642896592617035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2686773538589478,
                "transform": {
                    "location": {
                        "x": 166.3944549560547,
                        "y": 5583.60302734375,
                        "z": 365.8092346191406
                    },
                    "rotation": {
                        "roll": -0.003021240234375,
                        "pitch": -0.8321833610534668,
                        "yaw": 0.06897150725126266
                    }
                },
                "velocity": {
                    "x": 1.2685582637786865,
                    "y": 0.0006415153038688004,
                    "z": -0.01737409643828869
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.660935878753662,
                "transform": {
                    "location": {
                        "x": 180.14187622070312,
                        "y": 5583.57421875,
                        "z": 365.5787048339844
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.21322482824325562,
                        "yaw": 0.023731065914034843
                    }
                },
                "velocity": {
                    "x": 4.660559177398682,
                    "y": 0.0030506965704262257,
                    "z": -0.059186361730098724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.907235026359558,
                "transform": {
                    "location": {
                        "x": 179.94827270507812,
                        "y": 5586.82373046875,
                        "z": 365.5914611816406
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.7642844915390015,
                        "yaw": 0.06035950034856796
                    }
                },
                "velocity": {
                    "x": 1.907080054283142,
                    "y": 0.0012489858781918883,
                    "z": -0.02428201213479042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7722370624542236,
                "transform": {
                    "location": {
                        "x": 198.18289184570312,
                        "y": 5583.5546875,
                        "z": 365.4637756347656
                    },
                    "rotation": {
                        "roll": 0.004486413672566414,
                        "pitch": -0.46252673864364624,
                        "yaw": -1.029937505722046
                    }
                },
                "velocity": {
                    "x": 2.7721362113952637,
                    "y": 0.02363595739006996,
                    "z": -0.00027911184588447213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.205307483673096,
                "transform": {
                    "location": {
                        "x": 193.88929748535156,
                        "y": 5586.80908203125,
                        "z": 365.46917724609375
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.3196118474006653,
                        "yaw": -0.1384887844324112
                    }
                },
                "velocity": {
                    "x": 5.205280780792236,
                    "y": -0.012443985790014267,
                    "z": -0.011113443411886692
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.338808059692383,
                "transform": {
                    "location": {
                        "x": 211.57772827148438,
                        "y": 5583.51611328125,
                        "z": 365.4309387207031
                    },
                    "rotation": {
                        "roll": -0.0007324219914153218,
                        "pitch": -0.9031968712806702,
                        "yaw": -0.148681640625
                    }
                },
                "velocity": {
                    "x": 5.338329315185547,
                    "y": -0.013222853653132915,
                    "z": -0.07024476677179337
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.18930196762085,
                "transform": {
                    "location": {
                        "x": 208.16078186035156,
                        "y": 5586.77978515625,
                        "z": 365.4609375
                    },
                    "rotation": {
                        "roll": -0.045684814453125,
                        "pitch": -0.04104943573474884,
                        "yaw": -0.0333557091653347
                    }
                },
                "velocity": {
                    "x": 4.189262390136719,
                    "y": -0.0157892107963562,
                    "z": -0.009059600532054901
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.246786117553711,
                "transform": {
                    "location": {
                        "x": 217.7646026611328,
                        "y": 5563.7568359375,
                        "z": 365.5428161621094
                    },
                    "rotation": {
                        "roll": 0.0010896644089370966,
                        "pitch": 0.46460992097854614,
                        "yaw": -92.38778686523438
                    }
                },
                "velocity": {
                    "x": -0.48450717329978943,
                    "y": -12.236823081970215,
                    "z": 0.09593667834997177
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.552016258239746,
                "transform": {
                    "location": {
                        "x": 229.851318359375,
                        "y": 5586.72314453125,
                        "z": 365.48541259765625
                    },
                    "rotation": {
                        "roll": -0.003936767112463713,
                        "pitch": 0.25864559412002563,
                        "yaw": -0.1589965671300888
                    }
                },
                "velocity": {
                    "x": 13.551918983459473,
                    "y": -0.03802192956209183,
                    "z": 0.03452521190047264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.02995586208999157,
                "transform": {
                    "location": {
                        "x": 115.4496841430664,
                        "y": 5577.14697265625,
                        "z": 366.5816955566406
                    },
                    "rotation": {
                        "roll": 0.00028090013074688613,
                        "pitch": 0.9336184859275818,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -0.0002491113555151969,
                    "y": -0.00025157126947306097,
                    "z": -0.029953770339488983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044464804232120514,
                "transform": {
                    "location": {
                        "x": 115.53273010253906,
                        "y": 5580.39697265625,
                        "z": 366.5809020996094
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": 0.9397110342979431,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -0.0004886650713160634,
                    "y": -0.0002893259807024151,
                    "z": -0.04446117952466011
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.05068152770400047,
        "expert_target_speed": 10.0,
        "target_point": [
            27.346427079548064,
            0.03803499936877995
        ],
        "target_point_next": [
            28.346429877270822,
            0.03743083785129751
        ]
    },
    "750": {
        "acceleration": [
            0.08775711059570312,
            0.013610292226076126,
            -0.008502379059791565
        ],
        "angular_velocity": [
            0.004695002920925617,
            0.3241294026374817,
            0.16493843495845795
        ],
        "forward_vector": [
            -0.9999268054962158,
            0.0024711836595088243,
            0.011847336776554585
        ],
        "right_vector": [
            -0.0024724651593714952,
            -0.9999969601631165,
            -9.351298649562523e-05
        ],
        "location": [
            184.00889587402344,
            5580.28759765625,
            365.5326843261719
        ],
        "rotation": [
            0.00535827549174428,
            0.6788182854652405,
            179.8583984375
        ],
        "velocity": [
            -4.068540573120117,
            0.014729278162121773,
            0.043455906212329865
        ],
        "speed": 4.0685672351283255,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.48432159423828,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5735778808594
            ],
            "velocity": [
                -0.00015252127195708454,
                -0.000171384061104618,
                -0.015384851023554802
            ],
            "speed_kmh": 0.05539162157062211,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.380111694335938,
                "transform": {
                    "location": {
                        "x": 201.2332763671875,
                        "y": 5580.12548828125,
                        "z": 365.4557800292969
                    },
                    "rotation": {
                        "roll": 0.0028171930462121964,
                        "pitch": 0.16481246054172516,
                        "yaw": -179.70126342773438
                    }
                },
                "velocity": {
                    "x": -8.380019187927246,
                    "y": -0.03883432224392891,
                    "z": -0.005900115706026554
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.711623191833496,
                "transform": {
                    "location": {
                        "x": 201.61851501464844,
                        "y": 5576.87841796875,
                        "z": 365.4617004394531
                    },
                    "rotation": {
                        "roll": 0.00045422682887874544,
                        "pitch": -0.18682615458965302,
                        "yaw": -179.73570251464844
                    }
                },
                "velocity": {
                    "x": -7.711541175842285,
                    "y": -0.035127878189086914,
                    "z": -0.005597448442131281
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.653319835662842,
                "transform": {
                    "location": {
                        "x": 167.43186950683594,
                        "y": 5586.8544921875,
                        "z": 365.75347900390625
                    },
                    "rotation": {
                        "roll": -0.0024414057843387127,
                        "pitch": -0.7885999083518982,
                        "yaw": 0.14000889658927917
                    }
                },
                "velocity": {
                    "x": 7.652564525604248,
                    "y": 0.010739208199083805,
                    "z": -0.10698556900024414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1932413578033447,
                "transform": {
                    "location": {
                        "x": 166.81944274902344,
                        "y": 5583.603515625,
                        "z": 365.8024597167969
                    },
                    "rotation": {
                        "roll": -0.0022888178937137127,
                        "pitch": -0.730072021484375,
                        "yaw": 0.007496122270822525
                    }
                },
                "velocity": {
                    "x": 2.193037986755371,
                    "y": 1.5282537788152695e-05,
                    "z": -0.029870280995965004
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.378416538238525,
                "transform": {
                    "location": {
                        "x": 181.44053649902344,
                        "y": 5583.57470703125,
                        "z": 365.56268310546875
                    },
                    "rotation": {
                        "roll": 0.0013386363862082362,
                        "pitch": -0.27630162239074707,
                        "yaw": 0.024574585258960724
                    }
                },
                "velocity": {
                    "x": 5.377978324890137,
                    "y": -0.0010822550393640995,
                    "z": -0.06863987445831299
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4646098613739014,
                "transform": {
                    "location": {
                        "x": 180.478515625,
                        "y": 5586.82421875,
                        "z": 365.58489990234375
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": -0.7860386371612549,
                        "yaw": 0.06005066633224487
                    }
                },
                "velocity": {
                    "x": 2.4644110202789307,
                    "y": 0.002696146024391055,
                    "z": -0.03119095228612423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.590759515762329,
                "transform": {
                    "location": {
                        "x": 199.0009307861328,
                        "y": 5583.5517578125,
                        "z": 365.46240234375
                    },
                    "rotation": {
                        "roll": 0.01913680136203766,
                        "pitch": -0.24157695472240448,
                        "yaw": -0.8753052949905396
                    }
                },
                "velocity": {
                    "x": 3.5907201766967773,
                    "y": -0.01668432354927063,
                    "z": 0.002171430503949523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8084540367126465,
                "transform": {
                    "location": {
                        "x": 195.271240234375,
                        "y": 5586.80615234375,
                        "z": 365.46527099609375
                    },
                    "rotation": {
                        "roll": 8.799977513263002e-05,
                        "pitch": -0.19052128493785858,
                        "yaw": -0.18994140625
                    }
                },
                "velocity": {
                    "x": 5.808424949645996,
                    "y": -0.01509598083794117,
                    "z": -0.010456256568431854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.945982456207275,
                "transform": {
                    "location": {
                        "x": 213.0192108154297,
                        "y": 5583.51318359375,
                        "z": 365.4129638671875
                    },
                    "rotation": {
                        "roll": 0.37041300535202026,
                        "pitch": -0.7049232721328735,
                        "yaw": -0.1604003757238388
                    }
                },
                "velocity": {
                    "x": 5.945765018463135,
                    "y": -0.002376773627474904,
                    "z": -0.050833810120821
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9829888343811035,
                "transform": {
                    "location": {
                        "x": 209.19781494140625,
                        "y": 5586.77734375,
                        "z": 365.4564514160156
                    },
                    "rotation": {
                        "roll": -0.1755370944738388,
                        "pitch": -0.24579116702079773,
                        "yaw": -0.0959777683019638
                    }
                },
                "velocity": {
                    "x": 3.982891798019409,
                    "y": -0.01157001219689846,
                    "z": -0.025271262973546982
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.060543060302734,
                "transform": {
                    "location": {
                        "x": 217.64022827148438,
                        "y": 5560.57666015625,
                        "z": 365.5677795410156
                    },
                    "rotation": {
                        "roll": -0.004608155228197575,
                        "pitch": 0.4665701985359192,
                        "yaw": -92.15164184570312
                    }
                },
                "velocity": {
                    "x": -0.4761471748352051,
                    "y": -13.051458358764648,
                    "z": 0.10242316871881485
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.410375595092773,
                "transform": {
                    "location": {
                        "x": 233.22288513183594,
                        "y": 5586.71435546875,
                        "z": 365.4971008300781
                    },
                    "rotation": {
                        "roll": -0.0029602046124637127,
                        "pitch": 0.2579489052295685,
                        "yaw": -0.1477966159582138
                    }
                },
                "velocity": {
                    "x": 13.410202026367188,
                    "y": -0.03501162678003311,
                    "z": 0.05867328494787216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.015552577562630177,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.5749816894531
                    },
                    "rotation": {
                        "roll": -0.00164794921875,
                        "pitch": 0.9558234214782715,
                        "yaw": 179.86236572265625
                    }
                },
                "velocity": {
                    "x": -8.232176332967356e-05,
                    "y": 0.00019629021699074656,
                    "z": -0.015551120974123478
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.01538656186312437,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5735778808594
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.9569094777107239,
                        "yaw": 179.8623809814453
                    }
                },
                "velocity": {
                    "x": -0.00015252127195708454,
                    "y": -0.000171384061104618,
                    "z": -0.015384851023554802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.05535389855504036,
        "expert_target_speed": 10.0,
        "target_point": [
            26.325365545051035,
            0.05625992168016403
        ],
        "target_point_next": [
            27.32536852484203,
            0.05628947859779494
        ]
    },
    "755": {
        "acceleration": [
            0.06640434265136719,
            0.1246614009141922,
            0.00023387372493743896
        ],
        "angular_velocity": [
            0.048513684421777725,
            -0.01862473413348198,
            -0.8529855608940125
        ],
        "forward_vector": [
            -0.999918520450592,
            0.0036214501596987247,
            0.01223998423665762
        ],
        "right_vector": [
            -0.003624010132625699,
            -0.9999934434890747,
            -0.0001869814150268212
        ],
        "location": [
            182.99366760253906,
            5580.2919921875,
            365.54443359375
        ],
        "rotation": [
            0.010714048519730568,
            0.7013169527053833,
            179.79249572753906
        ],
        "velocity": [
            -4.052244186401367,
            0.02637811191380024,
            0.04878914728760719
        ],
        "speed": 4.052330039744025,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.468994140625,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5719299316406
            ],
            "velocity": [
                5.210324889048934e-05,
                -0.00028306571766734123,
                -0.002007704693824053
            ],
            "speed_kmh": 0.007301629911410137,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.762673854827881,
                "transform": {
                    "location": {
                        "x": 199.185546875,
                        "y": 5580.119140625,
                        "z": 365.4552307128906
                    },
                    "rotation": {
                        "roll": 0.009146037511527538,
                        "pitch": -0.0090978117659688,
                        "yaw": -179.87144470214844
                    }
                },
                "velocity": {
                    "x": -7.762660503387451,
                    "y": -0.01420961320400238,
                    "z": 0.001855125417932868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.640851020812988,
                "transform": {
                    "location": {
                        "x": 199.5652313232422,
                        "y": 5576.87255859375,
                        "z": 365.46051025390625
                    },
                    "rotation": {
                        "roll": -0.005767822265625,
                        "pitch": -0.12456898391246796,
                        "yaw": -179.830322265625
                    }
                },
                "velocity": {
                    "x": -8.64084529876709,
                    "y": -0.008971156552433968,
                    "z": 0.0050660609267652035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.665280818939209,
                "transform": {
                    "location": {
                        "x": 169.22921752929688,
                        "y": 5586.85693359375,
                        "z": 365.7286682128906
                    },
                    "rotation": {
                        "roll": -0.001983642578125,
                        "pitch": -0.8195133805274963,
                        "yaw": 0.03772779181599617
                    }
                },
                "velocity": {
                    "x": 6.664644241333008,
                    "y": 0.001875301357358694,
                    "z": -0.09208110719919205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9620835185050964,
                "transform": {
                    "location": {
                        "x": 167.3503875732422,
                        "y": 5583.60302734375,
                        "z": 365.79608154296875
                    },
                    "rotation": {
                        "roll": -0.0028381345327943563,
                        "pitch": -0.8525646328926086,
                        "yaw": 0.08897823095321655
                    }
                },
                "velocity": {
                    "x": 0.9619696736335754,
                    "y": -0.004638883285224438,
                    "z": -0.014055375941097736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.695554256439209,
                "transform": {
                    "location": {
                        "x": 182.88381958007812,
                        "y": 5583.57421875,
                        "z": 365.5443420410156
                    },
                    "rotation": {
                        "roll": 0.0019652624614536762,
                        "pitch": -0.20495347678661346,
                        "yaw": -0.016815185546875
                    }
                },
                "velocity": {
                    "x": 6.695066452026367,
                    "y": -0.00485073309391737,
                    "z": -0.08069680631160736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4113736152648926,
                "transform": {
                    "location": {
                        "x": 181.21148681640625,
                        "y": 5586.82470703125,
                        "z": 365.5758972167969
                    },
                    "rotation": {
                        "roll": -0.003143310546875,
                        "pitch": -0.8103267550468445,
                        "yaw": 0.05078816041350365
                    }
                },
                "velocity": {
                    "x": 3.411104917526245,
                    "y": -0.0037589450366795063,
                    "z": -0.0426466204226017
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6143434047698975,
                "transform": {
                    "location": {
                        "x": 199.91273498535156,
                        "y": 5583.5458984375,
                        "z": 365.4596252441406
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.11605174094438553,
                        "yaw": -0.6224669218063354
                    }
                },
                "velocity": {
                    "x": 3.614313840866089,
                    "y": -0.014561989344656467,
                    "z": 0.0013351344969123602
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.025729656219482,
                "transform": {
                    "location": {
                        "x": 196.84898376464844,
                        "y": 5586.80224609375,
                        "z": 365.4621276855469
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.17208661139011383,
                        "yaw": -0.1636657565832138
                    }
                },
                "velocity": {
                    "x": 7.025700092315674,
                    "y": -0.018007079139351845,
                    "z": -0.009654168970882893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.771509170532227,
                "transform": {
                    "location": {
                        "x": 214.79788208007812,
                        "y": 5583.50927734375,
                        "z": 365.4026184082031
                    },
                    "rotation": {
                        "roll": 0.35067218542099,
                        "pitch": -0.3251579701900482,
                        "yaw": -0.1289367377758026
                    }
                },
                "velocity": {
                    "x": 7.771473407745361,
                    "y": -0.013527171686291695,
                    "z": -0.019433144479990005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.8404645919799805,
                "transform": {
                    "location": {
                        "x": 210.27484130859375,
                        "y": 5586.7744140625,
                        "z": 365.4496765136719
                    },
                    "rotation": {
                        "roll": -0.171051025390625,
                        "pitch": -0.38098108768463135,
                        "yaw": -0.1341552585363388
                    }
                },
                "velocity": {
                    "x": 4.8403730392456055,
                    "y": -0.013775945641100407,
                    "z": -0.026465367525815964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.40060806274414,
                "transform": {
                    "location": {
                        "x": 217.52281188964844,
                        "y": 5557.259765625,
                        "z": 365.59393310546875
                    },
                    "rotation": {
                        "roll": -0.0039062206633388996,
                        "pitch": 0.4605323076248169,
                        "yaw": -91.8932113647461
                    }
                },
                "velocity": {
                    "x": -0.4442938566207886,
                    "y": -13.39283561706543,
                    "z": 0.1041954979300499
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.362067222595215,
                "transform": {
                    "location": {
                        "x": 236.56671142578125,
                        "y": 5586.70556640625,
                        "z": 365.5141296386719
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.35802483558654785,
                        "yaw": -0.1447143405675888
                    }
                },
                "velocity": {
                    "x": 13.361823081970215,
                    "y": -0.03303619474172592,
                    "z": 0.07358670979738235
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0019843510817736387,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.5732421875
                    },
                    "rotation": {
                        "roll": -0.0006713864859193563,
                        "pitch": 0.9613354206085205,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 3.6388337321113795e-05,
                    "y": -0.00011054088099626824,
                    "z": -0.00198093568906188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0020282305777072906,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5719299316406
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": 0.9609529376029968,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 5.210324889048934e-05,
                    "y": -0.00028306571766734123,
                    "z": -0.002007704693824053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.06157834455370903,
        "expert_target_speed": 10.0,
        "target_point": [
            25.310045857079462,
            0.08726784958828444
        ],
        "target_point_next": [
            26.310048140910677,
            0.08844801772378365
        ]
    },
    "760": {
        "acceleration": [
            -0.07181167602539062,
            0.09597383439540863,
            0.023133903741836548
        ],
        "angular_velocity": [
            -0.006242603994905949,
            0.10106465965509415,
            -0.4473229944705963
        ],
        "forward_vector": [
            -0.9999034404754639,
            0.006549209356307983,
            0.012255480512976646
        ],
        "right_vector": [
            -0.0065539260394871235,
            -0.9999784827232361,
            -0.0003447434864938259
        ],
        "location": [
            181.98155212402344,
            5580.30029296875,
            365.5568542480469
        ],
        "rotation": [
            0.01975383050739765,
            0.7022048830986023,
            179.62472534179688
        ],
        "velocity": [
            -4.052298545837402,
            0.04651835933327675,
            0.0498996265232563
        ],
        "speed": 4.052565540784132,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.45679473876953,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.57183837890625
            ],
            "velocity": [
                2.9899329092586413e-05,
                0.0002987006737384945,
                -0.0012704331893473864
            ],
            "speed_kmh": 0.00469950534636757,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.310891628265381,
                "transform": {
                    "location": {
                        "x": 197.4052276611328,
                        "y": 5580.1171875,
                        "z": 365.4557189941406
                    },
                    "rotation": {
                        "roll": 0.005474231671541929,
                        "pitch": -0.09448882937431335,
                        "yaw": -179.9498748779297
                    }
                },
                "velocity": {
                    "x": -6.310885906219482,
                    "y": -0.004938154481351376,
                    "z": 0.006995668169111013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.58555793762207,
                "transform": {
                    "location": {
                        "x": 197.2804718017578,
                        "y": 5576.869140625,
                        "z": 365.4615173339844
                    },
                    "rotation": {
                        "roll": -0.001739501953125,
                        "pitch": -0.02069547213613987,
                        "yaw": -179.93124389648438
                    }
                },
                "velocity": {
                    "x": -9.585553169250488,
                    "y": -0.00593694020062685,
                    "z": 0.00744738569483161
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2049753665924072,
                "transform": {
                    "location": {
                        "x": 170.42405700683594,
                        "y": 5586.861328125,
                        "z": 365.7127990722656
                    },
                    "rotation": {
                        "roll": 0.0045960708521306515,
                        "pitch": -0.9189131259918213,
                        "yaw": -0.4598998725414276
                    }
                },
                "velocity": {
                    "x": 2.204753875732422,
                    "y": -0.005829601548612118,
                    "z": -0.030703086405992508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1460638046264648,
                "transform": {
                    "location": {
                        "x": 167.501708984375,
                        "y": 5583.6025390625,
                        "z": 365.7937316894531
                    },
                    "rotation": {
                        "roll": -0.004547119140625,
                        "pitch": -0.8210774660110474,
                        "yaw": 0.15393678843975067
                    }
                },
                "velocity": {
                    "x": 1.1459487676620483,
                    "y": 0.000691241817548871,
                    "z": -0.016228951513767242
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9972333908081055,
                "transform": {
                    "location": {
                        "x": 184.73265075683594,
                        "y": 5583.5732421875,
                        "z": 365.5226745605469
                    },
                    "rotation": {
                        "roll": 0.0034499983303248882,
                        "pitch": -0.050017472356557846,
                        "yaw": -0.0566100999712944
                    }
                },
                "velocity": {
                    "x": 7.996822357177734,
                    "y": -0.0079208854585886,
                    "z": -0.0806896984577179
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.557397365570068,
                "transform": {
                    "location": {
                        "x": 182.21421813964844,
                        "y": 5586.82421875,
                        "z": 365.563232421875
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.7991594076156616,
                        "yaw": 0.012208616361021996
                    }
                },
                "velocity": {
                    "x": 4.55703067779541,
                    "y": -0.004008309915661812,
                    "z": -0.05768458545207977
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.2383623123168945,
                "transform": {
                    "location": {
                        "x": 200.8820343017578,
                        "y": 5583.541015625,
                        "z": 365.4591979980469
                    },
                    "rotation": {
                        "roll": -0.005279541481286287,
                        "pitch": 0.16966189444065094,
                        "yaw": -0.440277099609375
                    }
                },
                "velocity": {
                    "x": 4.238341808319092,
                    "y": -0.01309037022292614,
                    "z": 0.0011527251917868853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.157137393951416,
                "transform": {
                    "location": {
                        "x": 198.5203857421875,
                        "y": 5586.7978515625,
                        "z": 365.4595642089844
                    },
                    "rotation": {
                        "roll": 0.00029040148365311325,
                        "pitch": -0.009125132113695145,
                        "yaw": -0.153289794921875
                    }
                },
                "velocity": {
                    "x": 6.157118797302246,
                    "y": -0.01524341944605112,
                    "z": 0.000987634644843638
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.814253807067871,
                "transform": {
                    "location": {
                        "x": 216.88414001464844,
                        "y": 5583.50537109375,
                        "z": 365.3973083496094
                    },
                    "rotation": {
                        "roll": 0.49047207832336426,
                        "pitch": -0.04718294367194176,
                        "yaw": -0.1256713718175888
                    }
                },
                "velocity": {
                    "x": 8.814240455627441,
                    "y": -0.014815466478466988,
                    "z": 0.0026502131950110197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.445098876953125,
                "transform": {
                    "location": {
                        "x": 211.593505859375,
                        "y": 5586.77001953125,
                        "z": 365.4365234375
                    },
                    "rotation": {
                        "roll": 0.015531807206571102,
                        "pitch": -0.8235431909561157,
                        "yaw": -0.135162353515625
                    }
                },
                "velocity": {
                    "x": 5.444074630737305,
                    "y": -0.0011269060196354985,
                    "z": -0.10558496415615082
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.427563667297363,
                "transform": {
                    "location": {
                        "x": 217.41452026367188,
                        "y": 5553.90478515625,
                        "z": 365.6204528808594
                    },
                    "rotation": {
                        "roll": -0.004852312617003918,
                        "pitch": 0.4612836241722107,
                        "yaw": -91.75786590576172
                    }
                },
                "velocity": {
                    "x": -0.41678985953330994,
                    "y": -13.420659065246582,
                    "z": 0.10800141841173172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.385912895202637,
                "transform": {
                    "location": {
                        "x": 239.91061401367188,
                        "y": 5586.6982421875,
                        "z": 365.535888671875
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": 0.399859756231308,
                        "yaw": -0.128997802734375
                    }
                },
                "velocity": {
                    "x": 13.385525703430176,
                    "y": -0.03044816665351391,
                    "z": 0.09713143855333328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013331564841791987,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.5731201171875
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.9619911313056946,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 2.3971646442078054e-05,
                    "y": -0.0001581610122229904,
                    "z": -0.00132352439686656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013054180890321732,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.57183837890625
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": 0.961506187915802,
                        "yaw": 179.8625030517578
                    }
                },
                "velocity": {
                    "x": 2.9899329092586413e-05,
                    "y": 0.0002987006737384945,
                    "z": -0.0012704331893473864
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.0723278596997261,
        "expert_target_speed": 10.0,
        "target_point": [
            24.297533742808888,
            0.16304157529076183
        ],
        "target_point_next": [
            25.29752828541716,
            0.16714952102326872
        ]
    },
    "765": {
        "acceleration": [
            -0.2660942077636719,
            0.10307103395462036,
            0.005063265562057495
        ],
        "angular_velocity": [
            0.003584156511351466,
            0.23048800230026245,
            -1.4554160833358765
        ],
        "forward_vector": [
            -0.9998522996902466,
            0.011139551177620888,
            0.013088210485875607
        ],
        "right_vector": [
            -0.011146419681608677,
            -0.9999377727508545,
            -0.0004518753557931632
        ],
        "location": [
            180.96389770507812,
            5580.31494140625,
            365.5699768066406
        ],
        "rotation": [
            0.025892769917845726,
            0.7499206066131592,
            179.36167907714844
        ],
        "velocity": [
            -4.093452453613281,
            0.07398100197315216,
            0.052950866520404816
        ],
        "speed": 4.094120928678774,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.43904113769531,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                6.792708882130682e-05,
                -6.929945084266365e-05,
                0.00045280734775587916
            ],
            "speed_kmh": 0.0016671187501616429,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5163228511810303,
                "transform": {
                    "location": {
                        "x": 196.3582000732422,
                        "y": 5580.1123046875,
                        "z": 365.45635986328125
                    },
                    "rotation": {
                        "roll": 0.0024803318083286285,
                        "pitch": -0.4740014374256134,
                        "yaw": -179.10765075683594
                    }
                },
                "velocity": {
                    "x": -2.5162549018859863,
                    "y": -0.018118226900696754,
                    "z": 0.0037517070304602385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.407042503356934,
                "transform": {
                    "location": {
                        "x": 194.7770233154297,
                        "y": 5576.86865234375,
                        "z": 365.4657287597656
                    },
                    "rotation": {
                        "roll": -0.0029296875,
                        "pitch": 0.034854453057050705,
                        "yaw": -179.99354553222656
                    }
                },
                "velocity": {
                    "x": -10.406966209411621,
                    "y": 0.007923340424895287,
                    "z": 0.03892311826348305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2827974259853363,
                "transform": {
                    "location": {
                        "x": 170.52890014648438,
                        "y": 5586.86572265625,
                        "z": 365.7111511230469
                    },
                    "rotation": {
                        "roll": 0.012263513170182705,
                        "pitch": -0.8846733570098877,
                        "yaw": -0.9085693359375
                    }
                },
                "velocity": {
                    "x": 0.282771497964859,
                    "y": -0.0006387362955138087,
                    "z": -0.003775424789637327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0163204669952393,
                "transform": {
                    "location": {
                        "x": 167.89944458007812,
                        "y": 5583.6025390625,
                        "z": 365.78741455078125
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": -0.729580283164978,
                        "yaw": 0.10689825564622879
                    }
                },
                "velocity": {
                    "x": 2.0161325931549072,
                    "y": -0.00014489007298834622,
                    "z": -0.027524471282958984
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5212531089782715,
                "transform": {
                    "location": {
                        "x": 186.70272827148438,
                        "y": 5583.5712890625,
                        "z": 365.5045166015625
                    },
                    "rotation": {
                        "roll": 0.0012839064002037048,
                        "pitch": -0.34847623109817505,
                        "yaw": -0.0412292443215847
                    }
                },
                "velocity": {
                    "x": 7.520890235900879,
                    "y": -0.008714538998901844,
                    "z": -0.07337673008441925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3228559494018555,
                "transform": {
                    "location": {
                        "x": 183.4774169921875,
                        "y": 5586.82373046875,
                        "z": 365.5478820800781
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.7639771103858948,
                        "yaw": -0.014678954146802425
                    }
                },
                "velocity": {
                    "x": 5.322486400604248,
                    "y": -0.00414205202832818,
                    "z": -0.06257385015487671
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.04697847366333,
                "transform": {
                    "location": {
                        "x": 202.07421875,
                        "y": 5583.53466796875,
                        "z": 365.4593200683594
                    },
                    "rotation": {
                        "roll": 0.0058364965952932835,
                        "pitch": 0.2629895806312561,
                        "yaw": -0.3628539741039276
                    }
                },
                "velocity": {
                    "x": 5.046899795532227,
                    "y": -0.0277464147657156,
                    "z": 0.004698419477790594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.384424924850464,
                "transform": {
                    "location": {
                        "x": 199.82249450683594,
                        "y": 5586.794921875,
                        "z": 365.4578857421875
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": 0.23462381958961487,
                        "yaw": -0.1468505859375
                    }
                },
                "velocity": {
                    "x": 3.3844146728515625,
                    "y": -0.00833430327475071,
                    "z": -0.0004803466727025807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.62939453125,
                "transform": {
                    "location": {
                        "x": 219.19656372070312,
                        "y": 5583.50244140625,
                        "z": 365.4051208496094
                    },
                    "rotation": {
                        "roll": 0.19312827289104462,
                        "pitch": 0.1876867562532425,
                        "yaw": -0.1333312690258026
                    }
                },
                "velocity": {
                    "x": 9.628524780273438,
                    "y": -0.032308388501405716,
                    "z": 0.1252899467945099
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.395209312438965,
                "transform": {
                    "location": {
                        "x": 213.01873779296875,
                        "y": 5586.7666015625,
                        "z": 365.4049377441406
                    },
                    "rotation": {
                        "roll": 0.008458992466330528,
                        "pitch": -1.2488385438919067,
                        "yaw": -0.132598876953125
                    }
                },
                "velocity": {
                    "x": 6.39495325088501,
                    "y": -0.01641666144132614,
                    "z": -0.054829079657793045
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.404899597167969,
                "transform": {
                    "location": {
                        "x": 217.31187438964844,
                        "y": 5550.55224609375,
                        "z": 365.6473693847656
                    },
                    "rotation": {
                        "roll": -0.0021362369880080223,
                        "pitch": 0.45965805649757385,
                        "yaw": -91.71525573730469
                    }
                },
                "velocity": {
                    "x": -0.40468737483024597,
                    "y": -13.398359298706055,
                    "z": 0.10740835219621658
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.389132499694824,
                "transform": {
                    "location": {
                        "x": 243.25881958007812,
                        "y": 5586.6904296875,
                        "z": 365.5617980957031
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 0.490031898021698,
                        "yaw": -0.1272277683019638
                    }
                },
                "velocity": {
                    "x": 13.388626098632812,
                    "y": -0.029235100373625755,
                    "z": 0.11265958845615387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001846117665991187,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.5730285644531
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.9620798826217651,
                        "yaw": 179.86256408691406
                    }
                },
                "velocity": {
                    "x": 2.9582826755358838e-05,
                    "y": -2.5935838493751362e-05,
                    "z": -0.0018456984544172883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00046308853779919446,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 6.792708882130682e-05,
                    "y": -6.929945084266365e-05,
                    "z": 0.00045280734775587916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.09915118664503098,
        "expert_target_speed": 10.0,
        "target_point": [
            23.278774706622553,
            0.2778999072030917
        ],
        "target_point_next": [
            24.27873985125675,
            0.28659875662069056
        ]
    },
    "770": {
        "acceleration": [
            -0.5710983276367188,
            0.15140816569328308,
            0.0031087547540664673
        ],
        "angular_velocity": [
            -0.0073488312773406506,
            0.278968870639801,
            -1.3105133771896362
        ],
        "forward_vector": [
            -0.9997497797012329,
            0.017257144674658775,
            0.014230008237063885
        ],
        "right_vector": [
            -0.01726706139743328,
            -0.9998507499694824,
            -0.0005744154914282262
        ],
        "location": [
            179.92703247070312,
            5580.33740234375,
            365.5833435058594
        ],
        "rotation": [
            0.032914917916059494,
            0.8153469562530518,
            179.01109313964844
        ],
        "velocity": [
            -4.205853462219238,
            0.11215298622846603,
            0.0532965250313282
        ],
        "speed": 4.207348528227905,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.40206909179688,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                5.737870742450468e-05,
                -8.278601308120415e-05,
                -0.0005877860239706933
            ],
            "speed_kmh": 0.002146874872934407,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.267353534698486,
                "transform": {
                    "location": {
                        "x": 208.05992126464844,
                        "y": 5576.92529296875,
                        "z": 365.8072814941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -4.1526594161987305,
                    "y": 0.009977590292692184,
                    "z": -0.9826627373695374
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7090206146240234,
                "transform": {
                    "location": {
                        "x": 195.5945281982422,
                        "y": 5580.10986328125,
                        "z": 365.4588317871094
                    },
                    "rotation": {
                        "roll": 0.011272425763309002,
                        "pitch": 0.08849192410707474,
                        "yaw": -179.41632080078125
                    }
                },
                "velocity": {
                    "x": -3.7089900970458984,
                    "y": -0.010264746844768524,
                    "z": 0.010988426394760609
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.27471923828125,
                "transform": {
                    "location": {
                        "x": 192.06007385253906,
                        "y": 5576.87109375,
                        "z": 365.4757385253906
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 0.2127535492181778,
                        "yaw": 179.94992065429688
                    }
                },
                "velocity": {
                    "x": -11.27458381652832,
                    "y": 0.011894606053829193,
                    "z": 0.053968772292137146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8644812107086182,
                "transform": {
                    "location": {
                        "x": 170.6726531982422,
                        "y": 5586.8642578125,
                        "z": 365.7083435058594
                    },
                    "rotation": {
                        "roll": 0.010062486864626408,
                        "pitch": -0.7837778329849243,
                        "yaw": -0.8450317978858948
                    }
                },
                "velocity": {
                    "x": 0.8643947243690491,
                    "y": -0.0022407034412026405,
                    "z": -0.012019052170217037
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2841684818267822,
                "transform": {
                    "location": {
                        "x": 168.5594482421875,
                        "y": 5583.60302734375,
                        "z": 365.7778015136719
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": -0.6771244406700134,
                        "yaw": 0.0773468017578125
                    }
                },
                "velocity": {
                    "x": 3.283841133117676,
                    "y": 0.00018153073324356228,
                    "z": -0.04637066274881363
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.755868911743164,
                "transform": {
                    "location": {
                        "x": 188.39303588867188,
                        "y": 5583.56884765625,
                        "z": 365.4920959472656
                    },
                    "rotation": {
                        "roll": 0.0022843624465167522,
                        "pitch": -0.8836625218391418,
                        "yaw": -0.1104736179113388
                    }
                },
                "velocity": {
                    "x": 5.755679607391357,
                    "y": -0.0096812155097723,
                    "z": -0.04562085121870041
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.65107536315918,
                "transform": {
                    "location": {
                        "x": 184.85414123535156,
                        "y": 5586.822265625,
                        "z": 365.5324401855469
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": -0.6874107122421265,
                        "yaw": -0.020965576171875
                    }
                },
                "velocity": {
                    "x": 5.650831699371338,
                    "y": -0.004966605454683304,
                    "z": -0.052235621958971024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.500175952911377,
                "transform": {
                    "location": {
                        "x": 203.36358642578125,
                        "y": 5583.52783203125,
                        "z": 365.46142578125
                    },
                    "rotation": {
                        "roll": 0.0014495751820504665,
                        "pitch": 0.12114705890417099,
                        "yaw": -0.3236083686351776
                    }
                },
                "velocity": {
                    "x": 5.500090599060059,
                    "y": -0.030350079759955406,
                    "z": 0.004138812888413668
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5389115810394287,
                "transform": {
                    "location": {
                        "x": 200.4412384033203,
                        "y": 5586.79296875,
                        "z": 365.45855712890625
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.16277022659778595,
                        "yaw": -0.1453552544116974
                    }
                },
                "velocity": {
                    "x": 2.5389022827148438,
                    "y": -0.006577267311513424,
                    "z": 0.0017740726470947266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.497252464294434,
                "transform": {
                    "location": {
                        "x": 221.724365234375,
                        "y": 5583.49609375,
                        "z": 365.44281005859375
                    },
                    "rotation": {
                        "roll": 0.08942297101020813,
                        "pitch": 1.29982590675354,
                        "yaw": -0.1602782905101776
                    }
                },
                "velocity": {
                    "x": 10.495293617248535,
                    "y": -0.02806667797267437,
                    "z": 0.2008446455001831
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.269041061401367,
                "transform": {
                    "location": {
                        "x": 214.91046142578125,
                        "y": 5586.759765625,
                        "z": 365.3867492675781
                    },
                    "rotation": {
                        "roll": 0.40531888604164124,
                        "pitch": -0.24411094188690186,
                        "yaw": -0.1242370754480362
                    }
                },
                "velocity": {
                    "x": 8.267433166503906,
                    "y": 0.009344452060759068,
                    "z": -0.1628103256225586
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.379085540771484,
                "transform": {
                    "location": {
                        "x": 217.2117156982422,
                        "y": 5547.20654296875,
                        "z": 365.67425537109375
                    },
                    "rotation": {
                        "roll": -0.0004882675129920244,
                        "pitch": 0.4598902761936188,
                        "yaw": -91.70867919921875
                    }
                },
                "velocity": {
                    "x": -0.39983370900154114,
                    "y": -13.372672080993652,
                    "z": 0.10818593949079514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.3829927444458,
                "transform": {
                    "location": {
                        "x": 246.60577392578125,
                        "y": 5586.68359375,
                        "z": 365.59197998046875
                    },
                    "rotation": {
                        "roll": 0.00025964429369196296,
                        "pitch": 0.5746989250183105,
                        "yaw": -0.11834714561700821
                    }
                },
                "velocity": {
                    "x": 13.38237190246582,
                    "y": -0.02862210012972355,
                    "z": 0.12565097212791443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012543124612420797,
                "transform": {
                    "location": {
                        "x": 115.44937133789062,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.001678466796875,
                        "pitch": 0.9630634784698486,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 2.8930900953128003e-05,
                    "y": 1.087300006474834e-05,
                    "z": -0.0012539316667243838
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005963541334494948,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 5.737870742450468e-05,
                    "y": -8.278601308120415e-05,
                    "z": -0.0005877860239706933
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.130246102809906,
        "expert_target_speed": 10.0,
        "target_point": [
            22.239539891799787,
            0.42490510252050817
        ],
        "target_point_next": [
            23.23943308441407,
            0.4397227888477958
        ]
    },
    "775": {
        "acceleration": [
            -0.7460880279541016,
            -0.15394732356071472,
            0.04607491195201874
        ],
        "angular_velocity": [
            -0.2577894926071167,
            0.12499425560235977,
            -0.8679564595222473
        ],
        "forward_vector": [
            -0.9996060729026794,
            0.023557184264063835,
            0.015257957391440868
        ],
        "right_vector": [
            -0.02356243133544922,
            -0.9997223615646362,
            -0.0001642032730160281
        ],
        "location": [
            178.8534393310547,
            5580.3671875,
            365.5972595214844
        ],
        "rotation": [
            0.009409249760210514,
            0.8742505311965942,
            178.64999389648438
        ],
        "velocity": [
            -4.377734184265137,
            0.1233186349272728,
            0.06065879762172699
        ],
        "speed": 4.379470752705613,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.328369140625,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                3.1050294637680054e-05,
                1.909052843984682e-05,
                -0.0006146153900772333
            ],
            "speed_kmh": 0.0022165029173085104,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.985924482345581,
                "transform": {
                    "location": {
                        "x": 207.04405212402344,
                        "y": 5576.9248046875,
                        "z": 365.4061584472656
                    },
                    "rotation": {
                        "roll": -0.009857177734375,
                        "pitch": -0.05072098225355148,
                        "yaw": 179.98907470703125
                    }
                },
                "velocity": {
                    "x": -3.9668972492218018,
                    "y": -0.05404649302363396,
                    "z": -0.38522475957870483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.324050426483154,
                "transform": {
                    "location": {
                        "x": 194.5291290283203,
                        "y": 5580.1083984375,
                        "z": 365.4620666503906
                    },
                    "rotation": {
                        "roll": 0.009366319514811039,
                        "pitch": 0.26301008462905884,
                        "yaw": -179.7236328125
                    }
                },
                "velocity": {
                    "x": -4.324029922485352,
                    "y": -0.002888851100578904,
                    "z": 0.01305430382490158
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.051556587219238,
                "transform": {
                    "location": {
                        "x": 189.1396026611328,
                        "y": 5576.875,
                        "z": 365.49365234375
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": 0.32399001717567444,
                        "yaw": 179.91436767578125
                    }
                },
                "velocity": {
                    "x": -12.051167488098145,
                    "y": 0.021817412227392197,
                    "z": 0.0943002700805664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4046765565872192,
                "transform": {
                    "location": {
                        "x": 170.955078125,
                        "y": 5586.86181640625,
                        "z": 365.70428466796875
                    },
                    "rotation": {
                        "roll": 0.0072661577723920345,
                        "pitch": -0.7730680704116821,
                        "yaw": -0.7128295302391052
                    }
                },
                "velocity": {
                    "x": 1.4045463800430298,
                    "y": -0.003500993363559246,
                    "z": -0.018799686804413795
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.65264892578125,
                "transform": {
                    "location": {
                        "x": 169.5614013671875,
                        "y": 5583.60302734375,
                        "z": 365.76361083984375
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.6501451730728149,
                        "yaw": 0.04313843697309494
                    }
                },
                "velocity": {
                    "x": 4.652202129364014,
                    "y": -0.00034085899824276567,
                    "z": -0.06446348875761032
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8950490951538086,
                "transform": {
                    "location": {
                        "x": 189.3709259033203,
                        "y": 5583.56591796875,
                        "z": 365.4865417480469
                    },
                    "rotation": {
                        "roll": 0.014758403412997723,
                        "pitch": -1.2159101963043213,
                        "yaw": 5.391025842982344e-05
                    }
                },
                "velocity": {
                    "x": 3.894981622695923,
                    "y": -0.006736851297318935,
                    "z": -0.021875858306884766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.284457206726074,
                "transform": {
                    "location": {
                        "x": 186.45132446289062,
                        "y": 5586.82177734375,
                        "z": 365.51751708984375
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": -0.658293604850769,
                        "yaw": -0.0671386644244194
                    }
                },
                "velocity": {
                    "x": 7.284130573272705,
                    "y": -0.011048544198274612,
                    "z": -0.06809364259243011
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.189114570617676,
                "transform": {
                    "location": {
                        "x": 204.5311737060547,
                        "y": 5583.5146484375,
                        "z": 365.46484375
                    },
                    "rotation": {
                        "roll": -0.011993407271802425,
                        "pitch": -0.23586690425872803,
                        "yaw": 0.5984363555908203
                    }
                },
                "velocity": {
                    "x": 4.189087867736816,
                    "y": -0.014826781116425991,
                    "z": 0.00215256679803133
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4100983142852783,
                "transform": {
                    "location": {
                        "x": 201.17929077148438,
                        "y": 5586.791015625,
                        "z": 365.46038818359375
                    },
                    "rotation": {
                        "roll": 0.0005688381497748196,
                        "pitch": -0.01806584931910038,
                        "yaw": -0.1408996433019638
                    }
                },
                "velocity": {
                    "x": 3.4100875854492188,
                    "y": -0.008348837494850159,
                    "z": 0.001678848173469305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.312771797180176,
                "transform": {
                    "location": {
                        "x": 224.45046997070312,
                        "y": 5583.48779296875,
                        "z": 365.47760009765625
                    },
                    "rotation": {
                        "roll": -0.01565551571547985,
                        "pitch": 0.1486317366361618,
                        "yaw": -0.16851806640625
                    }
                },
                "velocity": {
                    "x": 11.312422752380371,
                    "y": -0.03313616290688515,
                    "z": 0.0824444591999054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.170112609863281,
                "transform": {
                    "location": {
                        "x": 217.09593200683594,
                        "y": 5586.75732421875,
                        "z": 365.366943359375
                    },
                    "rotation": {
                        "roll": 0.4364555776119232,
                        "pitch": 0.29776206612586975,
                        "yaw": -0.11190793663263321
                    }
                },
                "velocity": {
                    "x": 9.170080184936523,
                    "y": -0.017830323427915573,
                    "z": 0.016579674556851387
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.380295753479004,
                "transform": {
                    "location": {
                        "x": 217.1121063232422,
                        "y": 5543.86376953125,
                        "z": 365.70147705078125
                    },
                    "rotation": {
                        "roll": 0.001908783451654017,
                        "pitch": 0.47592756152153015,
                        "yaw": -91.70872497558594
                    }
                },
                "velocity": {
                    "x": -0.39907461404800415,
                    "y": -13.373884201049805,
                    "z": 0.11076120287179947
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 249.97694396972656,
                        "y": 5586.67529296875,
                        "z": 365.6265869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6169778108596802,
                        "yaw": -0.1376648098230362
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.538290810771286e-05,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": 0.9627902507781982,
                        "yaw": 179.86260986328125
                    }
                },
                "velocity": {
                    "x": 3.577887764549814e-05,
                    "y": 2.1042069420218468e-07,
                    "z": -6.6350658016745e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006156952586025,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 3.1050294637680054e-05,
                    "y": 1.909052843984682e-05,
                    "z": -0.0006146153900772333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.17804068326950073,
        "expert_target_speed": 10.0,
        "target_point": [
            21.162423459631164,
            0.5695405392169511
        ],
        "target_point_next": [
            22.162203408855454,
            0.5906595731331614
        ]
    },
    "780": {
        "acceleration": [
            -0.8217334747314453,
            0.03343164920806885,
            0.01703031361103058
        ],
        "angular_velocity": [
            0.02446095272898674,
            0.03293076902627945,
            -0.1520896852016449
        ],
        "forward_vector": [
            -0.999571681022644,
            0.02479991875588894,
            0.015539376996457577
        ],
        "right_vector": [
            -0.024798452854156494,
            -0.999692440032959,
            0.00028705407748930156
        ],
        "location": [
            177.7335968017578,
            5580.39599609375,
            365.6127624511719
        ],
        "rotation": [
            -0.01644897274672985,
            0.8903765678405762,
            178.57875061035156
        ],
        "velocity": [
            -4.576711654663086,
            0.11971473693847656,
            0.06292238086462021
        ],
        "speed": 4.578277098229111,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.208412170410156,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                1.9081086065853015e-05,
                3.15555116685573e-05,
                -0.0013165357522666454
            ],
            "speed_kmh": 0.00474138754775995,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9217560291290283,
                "transform": {
                    "location": {
                        "x": 206.05609130859375,
                        "y": 5576.9140625,
                        "z": 365.4288635253906
                    },
                    "rotation": {
                        "roll": -0.003509521484375,
                        "pitch": -0.039703886955976486,
                        "yaw": -179.64431762695312
                    }
                },
                "velocity": {
                    "x": -3.9194085597991943,
                    "y": -0.053663983941078186,
                    "z": 0.124610535800457
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.399604320526123,
                "transform": {
                    "location": {
                        "x": 193.47959899902344,
                        "y": 5580.1083984375,
                        "z": 365.46502685546875
                    },
                    "rotation": {
                        "roll": 0.004793436732143164,
                        "pitch": 0.2851603925228119,
                        "yaw": -179.90301513671875
                    }
                },
                "velocity": {
                    "x": -4.399585247039795,
                    "y": 0.0036895154044032097,
                    "z": 0.012467498891055584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.838385581970215,
                "transform": {
                    "location": {
                        "x": 186.0224151611328,
                        "y": 5576.8798828125,
                        "z": 365.5191345214844
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.4373984634876251,
                        "yaw": 179.89627075195312
                    }
                },
                "velocity": {
                    "x": -12.837721824645996,
                    "y": 0.023196350783109665,
                    "z": 0.12847962975502014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9638620615005493,
                "transform": {
                    "location": {
                        "x": 171.37820434570312,
                        "y": 5586.85986328125,
                        "z": 365.6983947753906
                    },
                    "rotation": {
                        "roll": 0.005581830628216267,
                        "pitch": -0.7738330960273743,
                        "yaw": -0.6307066679000854
                    }
                },
                "velocity": {
                    "x": 1.9636722803115845,
                    "y": -0.006176199298352003,
                    "z": -0.026597686111927032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.331962585449219,
                "transform": {
                    "location": {
                        "x": 170.84898376464844,
                        "y": 5583.603515625,
                        "z": 365.74664306640625
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.7066923379898071,
                        "yaw": 0.019057441502809525
                    }
                },
                "velocity": {
                    "x": 5.331452369689941,
                    "y": 0.00031343239243142307,
                    "z": -0.07373909652233124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.162481307983398,
                "transform": {
                    "location": {
                        "x": 190.5164031982422,
                        "y": 5583.564453125,
                        "z": 365.4764709472656
                    },
                    "rotation": {
                        "roll": 0.006954253185540438,
                        "pitch": -0.2697787880897522,
                        "yaw": -0.045806884765625
                    }
                },
                "velocity": {
                    "x": 5.1624040603637695,
                    "y": -0.008455106057226658,
                    "z": -0.02700536698102951
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6598711013793945,
                "transform": {
                    "location": {
                        "x": 188.23265075683594,
                        "y": 5586.81884765625,
                        "z": 365.5001220703125
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.4507719576358795,
                        "yaw": -0.0869140550494194
                    }
                },
                "velocity": {
                    "x": 6.659637451171875,
                    "y": -0.01186027005314827,
                    "z": -0.05447472631931305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.959436893463135,
                "transform": {
                    "location": {
                        "x": 205.685546875,
                        "y": 5583.513671875,
                        "z": 365.4629211425781
                    },
                    "rotation": {
                        "roll": 0.002965093357488513,
                        "pitch": 0.10020569711923599,
                        "yaw": 0.3057093620300293
                    }
                },
                "velocity": {
                    "x": 4.95941686630249,
                    "y": -0.013950611464679241,
                    "z": 0.002219676971435547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.536377429962158,
                "transform": {
                    "location": {
                        "x": 202.17874145507812,
                        "y": 5586.78857421875,
                        "z": 365.46148681640625
                    },
                    "rotation": {
                        "roll": 0.0004296533006709069,
                        "pitch": -0.07019384950399399,
                        "yaw": -0.1408080905675888
                    }
                },
                "velocity": {
                    "x": 4.53636360168457,
                    "y": -0.01112876832485199,
                    "z": 0.001798553392291069
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.136998176574707,
                "transform": {
                    "location": {
                        "x": 227.38584899902344,
                        "y": 5583.47998046875,
                        "z": 365.4855651855469
                    },
                    "rotation": {
                        "roll": -0.002227783203125,
                        "pitch": -0.024568188935518265,
                        "yaw": -0.159210205078125
                    }
                },
                "velocity": {
                    "x": 12.136947631835938,
                    "y": -0.033446695655584335,
                    "z": 0.010332469828426838
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.723234176635742,
                "transform": {
                    "location": {
                        "x": 219.62124633789062,
                        "y": 5586.75244140625,
                        "z": 365.3872985839844
                    },
                    "rotation": {
                        "roll": 0.41817158460617065,
                        "pitch": 1.0506060123443604,
                        "yaw": -0.142791748046875
                    }
                },
                "velocity": {
                    "x": 10.722046852111816,
                    "y": -0.022685851901769638,
                    "z": 0.15794630348682404
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.37253189086914,
                "transform": {
                    "location": {
                        "x": 217.01475524902344,
                        "y": 5540.5205078125,
                        "z": 365.7292175292969
                    },
                    "rotation": {
                        "roll": -0.0006408858462236822,
                        "pitch": 0.475101113319397,
                        "yaw": -91.61188507080078
                    }
                },
                "velocity": {
                    "x": -0.36460959911346436,
                    "y": -13.367100715637207,
                    "z": 0.11092643439769745
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 253.44796752929688,
                        "y": 5586.59033203125,
                        "z": 365.6680908203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7258509993553162,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00040978490142151713,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": 0.9627902507781982,
                        "yaw": 179.86260986328125
                    }
                },
                "velocity": {
                    "x": 4.075973993167281e-05,
                    "y": -1.5697958588134497e-05,
                    "z": -0.0004074504831805825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013170520542189479,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 1.9081086065853015e-05,
                    "y": 3.15555116685573e-05,
                    "z": -0.0013165357522666454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.19528047740459442,
        "expert_target_speed": 10.0,
        "target_point": [
            20.04148654616719,
            0.596872229260589
        ],
        "target_point_next": [
            21.04123946952489,
            0.6192340874618564
        ]
    },
    "785": {
        "acceleration": [
            -0.9121799468994141,
            0.04450380802154541,
            0.004671961069107056
        ],
        "angular_velocity": [
            0.016025647521018982,
            0.039124395698308945,
            -0.25155413150787354
        ],
        "forward_vector": [
            -0.9995417594909668,
            0.025868920609354973,
            0.015719478949904442
        ],
        "right_vector": [
            -0.025868022814393044,
            -0.9996653199195862,
            0.0002604249457363039
        ],
        "location": [
            176.5614013671875,
            5580.42724609375,
            365.62908935546875
        ],
        "rotation": [
            -0.01492309384047985,
            0.9006969928741455,
            178.51747131347656
        ],
        "velocity": [
            -4.795706748962402,
            0.13027507066726685,
            0.06489194929599762
        ],
        "speed": 4.7974758796768215,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.03611373901367,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                3.138616739306599e-05,
                -7.085393008310348e-06,
                -0.00046934079728089273
            ],
            "speed_kmh": 0.0016935927416702149,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.036107063293457,
                "transform": {
                    "location": {
                        "x": 207.3837432861328,
                        "y": 5580.17724609375,
                        "z": 365.5422058105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -4.398400783538818,
                    "y": 0.010568034835159779,
                    "z": -2.4528212547302246
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.7578110694885254,
                "transform": {
                    "location": {
                        "x": 205.09703063964844,
                        "y": 5576.90625,
                        "z": 365.44451904296875
                    },
                    "rotation": {
                        "roll": 0.0028664872515946627,
                        "pitch": -0.04928664118051529,
                        "yaw": -179.57778930664062
                    }
                },
                "velocity": {
                    "x": -3.7576704025268555,
                    "y": -0.02230812981724739,
                    "z": 0.02365214377641678
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.324239253997803,
                "transform": {
                    "location": {
                        "x": 192.2335968017578,
                        "y": 5580.1103515625,
                        "z": 365.470703125
                    },
                    "rotation": {
                        "roll": 0.004108693916350603,
                        "pitch": 0.4024210572242737,
                        "yaw": 179.9687957763672
                    }
                },
                "velocity": {
                    "x": -5.32416296005249,
                    "y": 0.009121747687458992,
                    "z": 0.027005957439541817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.5718412399292,
                "transform": {
                    "location": {
                        "x": 182.71640014648438,
                        "y": 5576.88623046875,
                        "z": 365.5551452636719
                    },
                    "rotation": {
                        "roll": 0.00041994042112492025,
                        "pitch": 0.6366077661514282,
                        "yaw": 179.88995361328125
                    }
                },
                "velocity": {
                    "x": -13.570812225341797,
                    "y": 0.02594505250453949,
                    "z": 0.1651425063610077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5847973823547363,
                "transform": {
                    "location": {
                        "x": 171.95225524902344,
                        "y": 5586.8583984375,
                        "z": 365.6904602050781
                    },
                    "rotation": {
                        "roll": 0.005500223953276873,
                        "pitch": -0.7741404175758362,
                        "yaw": -0.655914306640625
                    }
                },
                "velocity": {
                    "x": 2.5845510959625244,
                    "y": -0.0073006413877010345,
                    "z": -0.034928806126117706
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.836108207702637,
                "transform": {
                    "location": {
                        "x": 172.26022338867188,
                        "y": 5583.6025390625,
                        "z": 365.7271728515625
                    },
                    "rotation": {
                        "roll": 0.0018967443611472845,
                        "pitch": -0.7294300198554993,
                        "yaw": -0.0639343187212944
                    }
                },
                "velocity": {
                    "x": 5.835561275482178,
                    "y": -0.006994639523327351,
                    "z": -0.07957027852535248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.281782627105713,
                "transform": {
                    "location": {
                        "x": 191.83897399902344,
                        "y": 5583.5625,
                        "z": 365.4683837890625
                    },
                    "rotation": {
                        "roll": 0.0034811149816960096,
                        "pitch": -0.13875529170036316,
                        "yaw": -0.081390380859375
                    }
                },
                "velocity": {
                    "x": 5.281702995300293,
                    "y": -0.010291311889886856,
                    "z": -0.027128538116812706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.472992420196533,
                "transform": {
                    "location": {
                        "x": 189.74264526367188,
                        "y": 5586.81591796875,
                        "z": 365.4888610839844
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.2974000871181488,
                        "yaw": -0.092193603515625
                    }
                },
                "velocity": {
                    "x": 5.4729132652282715,
                    "y": -0.008845837786793709,
                    "z": -0.02810961753129959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.416355609893799,
                "transform": {
                    "location": {
                        "x": 206.85780334472656,
                        "y": 5583.484375,
                        "z": 365.4642639160156
                    },
                    "rotation": {
                        "roll": 0.24302680790424347,
                        "pitch": 0.02606400102376938,
                        "yaw": -0.9768674969673157
                    }
                },
                "velocity": {
                    "x": 4.398299217224121,
                    "y": -0.3989466726779938,
                    "z": 0.0020183944143354893
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.202913761138916,
                "transform": {
                    "location": {
                        "x": 203.43194580078125,
                        "y": 5586.7861328125,
                        "z": 365.4622497558594
                    },
                    "rotation": {
                        "roll": 0.0002748886472545564,
                        "pitch": -0.03908916935324669,
                        "yaw": -0.13934326171875
                    }
                },
                "velocity": {
                    "x": 5.20289945602417,
                    "y": -0.011340772733092308,
                    "z": 0.004582262132316828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.902563095092773,
                "transform": {
                    "location": {
                        "x": 230.52069091796875,
                        "y": 5583.4716796875,
                        "z": 365.4916687011719
                    },
                    "rotation": {
                        "roll": 0.0014008366269990802,
                        "pitch": 0.10707686841487885,
                        "yaw": -0.147796630859375
                    }
                },
                "velocity": {
                    "x": 12.902437210083008,
                    "y": -0.0310932919383049,
                    "z": 0.047845009714365005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.767247200012207,
                "transform": {
                    "location": {
                        "x": 222.44601440429688,
                        "y": 5586.74560546875,
                        "z": 365.4383239746094
                    },
                    "rotation": {
                        "roll": 0.2315608561038971,
                        "pitch": 1.7339527606964111,
                        "yaw": -0.173919677734375
                    }
                },
                "velocity": {
                    "x": 11.765579223632812,
                    "y": -0.033573150634765625,
                    "z": 0.19527369737625122
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.37873649597168,
                "transform": {
                    "location": {
                        "x": 216.927734375,
                        "y": 5537.17822265625,
                        "z": 365.7571105957031
                    },
                    "rotation": {
                        "roll": -0.0041809165850281715,
                        "pitch": 0.4807906448841095,
                        "yaw": -91.3532943725586
                    }
                },
                "velocity": {
                    "x": -0.2818460762500763,
                    "y": -13.3753023147583,
                    "z": 0.1115650162100792
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4446,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 256.919677734375,
                        "y": 5586.5625,
                        "z": 365.7135314941406
                    },
                    "rotation": {
                        "roll": 1.0423147067673e-10,
                        "pitch": 0.8347173929214478,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00026477634673938155,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": 0.9628585577011108,
                        "yaw": 179.86277770996094
                    }
                },
                "velocity": {
                    "x": 1.994609738176223e-05,
                    "y": -6.0899354139110073e-05,
                    "z": 0.00025690451730042696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00047044240636751056,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 3.138616739306599e-05,
                    "y": -7.085393008310348e-06,
                    "z": -0.00046934079728089273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.23301014304161072,
        "expert_target_speed": 10.0,
        "target_point": [
            18.868225143080128,
            0.6192200031154297
        ],
        "target_point_next": [
            19.8679535775894,
            0.6426511298087335
        ]
    },
    "790": {
        "acceleration": [
            -0.9358692169189453,
            0.053060948848724365,
            0.09984195232391357
        ],
        "angular_velocity": [
            0.01712111569941044,
            -0.001125720445998013,
            -0.25940531492233276
        ],
        "forward_vector": [
            -0.9995104670524597,
            0.02697603404521942,
            0.015848686918616295
        ],
        "right_vector": [
            -0.026975667104125023,
            -0.9996361136436462,
            0.00023699153098277748
        ],
        "location": [
            175.33248901367188,
            5580.4609375,
            365.6461181640625
        ],
        "rotation": [
            -0.01358032040297985,
            0.9081009030342102,
            178.45401000976562
        ],
        "velocity": [
            -5.027026653289795,
            0.14221690595149994,
            0.07335061579942703
        ],
        "speed": 5.029037941915373,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.807106018066406,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                1.610636718396563e-05,
                -6.91174718667753e-05,
                0.00015572350821457803
            ],
            "speed_kmh": 0.0006160782457232225,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.318535804748535,
                "transform": {
                    "location": {
                        "x": 206.30718994140625,
                        "y": 5580.16845703125,
                        "z": 365.42529296875
                    },
                    "rotation": {
                        "roll": -0.023040771484375,
                        "pitch": -0.04619939625263214,
                        "yaw": -179.781494140625
                    }
                },
                "velocity": {
                    "x": -4.315654754638672,
                    "y": -0.04547690227627754,
                    "z": 0.1510191261768341
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.493531703948975,
                "transform": {
                    "location": {
                        "x": 204.0828857421875,
                        "y": 5576.900390625,
                        "z": 365.4465637207031
                    },
                    "rotation": {
                        "roll": 0.0011732288403436542,
                        "pitch": -0.001126981107518077,
                        "yaw": -179.56524658203125
                    }
                },
                "velocity": {
                    "x": -4.493457317352295,
                    "y": -0.025827735662460327,
                    "z": 0.0014277076115831733
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.621161937713623,
                "transform": {
                    "location": {
                        "x": 190.87265014648438,
                        "y": 5580.11376953125,
                        "z": 365.47784423828125
                    },
                    "rotation": {
                        "roll": 0.001753642805851996,
                        "pitch": 0.36798325181007385,
                        "yaw": 179.9067840576172
                    }
                },
                "velocity": {
                    "x": -5.621042251586914,
                    "y": 0.010566363111138344,
                    "z": 0.03515615314245224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.281768798828125,
                "transform": {
                    "location": {
                        "x": 179.2305450439453,
                        "y": 5576.8935546875,
                        "z": 365.6004943847656
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.7054287195205688,
                        "yaw": 179.8758544921875
                    }
                },
                "velocity": {
                    "x": -14.280393600463867,
                    "y": 0.03391555696725845,
                    "z": 0.1952875256538391
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.134159803390503,
                "transform": {
                    "location": {
                        "x": 172.66851806640625,
                        "y": 5586.85546875,
                        "z": 365.68060302734375
                    },
                    "rotation": {
                        "roll": 0.006203905679285526,
                        "pitch": -0.7751171588897705,
                        "yaw": -0.569427490234375
                    }
                },
                "velocity": {
                    "x": 3.133857250213623,
                    "y": -0.008350994437932968,
                    "z": -0.04273563250899315
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.317420959472656,
                "transform": {
                    "location": {
                        "x": 174.05764770507812,
                        "y": 5583.6005859375,
                        "z": 365.7010803222656
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": -0.5843499898910522,
                        "yaw": -0.0814514085650444
                    }
                },
                "velocity": {
                    "x": 8.31661319732666,
                    "y": -0.011878320015966892,
                    "z": -0.11531133204698563
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.793808937072754,
                "transform": {
                    "location": {
                        "x": 193.40139770507812,
                        "y": 5583.56005859375,
                        "z": 365.46002197265625
                    },
                    "rotation": {
                        "roll": 0.0015540425665676594,
                        "pitch": 0.17674478888511658,
                        "yaw": -0.1021118015050888
                    }
                },
                "velocity": {
                    "x": 6.793754577636719,
                    "y": -0.012402679771184921,
                    "z": -0.024205407127738
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.248652458190918,
                "transform": {
                    "location": {
                        "x": 190.65530395507812,
                        "y": 5586.81494140625,
                        "z": 365.4825439453125
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": -0.15234053134918213,
                        "yaw": -0.09439084678888321
                    }
                },
                "velocity": {
                    "x": 3.2485976219177246,
                    "y": -0.006497752387076616,
                    "z": -0.01770065352320671
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.230228900909424,
                "transform": {
                    "location": {
                        "x": 207.9208526611328,
                        "y": 5583.3857421875,
                        "z": 365.4632873535156
                    },
                    "rotation": {
                        "roll": 0.19441722333431244,
                        "pitch": -0.15029147267341614,
                        "yaw": -3.5907297134399414
                    }
                },
                "velocity": {
                    "x": 4.196523666381836,
                    "y": -0.5320191979408264,
                    "z": -0.03129853308200836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.8519392013549805,
                "transform": {
                    "location": {
                        "x": 204.67999267578125,
                        "y": 5586.783203125,
                        "z": 365.4620666503906
                    },
                    "rotation": {
                        "roll": 4.830011312151328e-05,
                        "pitch": 0.04874705895781517,
                        "yaw": -0.1347961574792862
                    }
                },
                "velocity": {
                    "x": 4.851925373077393,
                    "y": -0.011403060518205166,
                    "z": 0.0025697231758385897
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.387764930725098,
                "transform": {
                    "location": {
                        "x": 233.82772827148438,
                        "y": 5583.462890625,
                        "z": 365.504638671875
                    },
                    "rotation": {
                        "roll": 0.00032411105348728597,
                        "pitch": 0.19882678985595703,
                        "yaw": -0.1446227878332138
                    }
                },
                "velocity": {
                    "x": 13.387590408325195,
                    "y": -0.033884502947330475,
                    "z": 0.05947175994515419
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.758788108825684,
                "transform": {
                    "location": {
                        "x": 225.50241088867188,
                        "y": 5586.736328125,
                        "z": 365.48236083984375
                    },
                    "rotation": {
                        "roll": -0.01300048641860485,
                        "pitch": 0.219030499458313,
                        "yaw": -0.18078608810901642
                    }
                },
                "velocity": {
                    "x": 12.758658409118652,
                    "y": -0.0435660220682621,
                    "z": 0.03753887861967087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.371543884277344,
                "transform": {
                    "location": {
                        "x": 216.87030029296875,
                        "y": 5533.8349609375,
                        "z": 365.7853698730469
                    },
                    "rotation": {
                        "roll": -0.008270252496004105,
                        "pitch": 0.4942256212234497,
                        "yaw": -90.63133239746094
                    }
                },
                "velocity": {
                    "x": -0.14624130725860596,
                    "y": -13.370245933532715,
                    "z": 0.11543481796979904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007449820404872298,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": 0.9628585577011108,
                        "yaw": 179.86277770996094
                    }
                },
                "velocity": {
                    "x": 2.728253457462415e-05,
                    "y": 2.0596622562152334e-05,
                    "z": -0.0007441973430104554
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.41765594482422,
                        "y": 5577.17041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017113285139203072,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 1.610636718396563e-05,
                    "y": -6.91174718667753e-05,
                    "z": 0.00015572350821457803
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 105.42546844482422,
                        "y": 5580.42041015625,
                        "z": 366.9114685058594
                    },
                    "rotation": {
                        "roll": 2.084652728218117e-10,
                        "pitch": 0.8773104548454285,
                        "yaw": 179.86231994628906
                    }
                },
                "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": 0.25785812735557556,
        "expert_target_speed": 10.0,
        "target_point": [
            17.638153671702845,
            0.6406441042314385
        ],
        "target_point_next": [
            18.637855538404086,
            0.6651826082308756
        ]
    },
    "795": {
        "acceleration": [
            0.39092063903808594,
            0.03400743007659912,
            -0.015711337327957153
        ],
        "angular_velocity": [
            0.026957521215081215,
            -0.07322601228952408,
            -0.44022136926651
        ],
        "forward_vector": [
            -0.9994601607322693,
            0.029330851510167122,
            0.014800126664340496
        ],
        "right_vector": [
            -0.02933177910745144,
            -0.9995697140693665,
            0.00015444641758222133
        ],
        "location": [
            174.077880859375,
            5580.498046875,
            365.6638488769531
        ],
        "rotation": [
            -0.00885009765625,
            0.8480157256126404,
            178.3190460205078
        ],
        "velocity": [
            -5.025911808013916,
            0.15522697567939758,
            0.07018107920885086
        ],
        "speed": 5.028308355293287,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.55242919921875,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                5.316614988259971e-05,
                6.606555689359084e-05,
                -0.0005813472671434283
            ],
            "speed_kmh": 0.00211499905730879,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.19839334487915,
                "transform": {
                    "location": {
                        "x": 205.26077270507812,
                        "y": 5580.15966796875,
                        "z": 365.4520568847656
                    },
                    "rotation": {
                        "roll": 0.00466102734208107,
                        "pitch": -0.06371883302927017,
                        "yaw": -179.66384887695312
                    }
                },
                "velocity": {
                    "x": -4.197978496551514,
                    "y": -0.02488202042877674,
                    "z": 0.05349297448992729
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.625807285308838,
                "transform": {
                    "location": {
                        "x": 202.79928588867188,
                        "y": 5576.89306640625,
                        "z": 365.4460144042969
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.02871411293745041,
                        "yaw": -179.53526306152344
                    }
                },
                "velocity": {
                    "x": -5.625710487365723,
                    "y": -0.03291689231991768,
                    "z": -0.0019531059078872204
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.452014446258545,
                "transform": {
                    "location": {
                        "x": 189.13156127929688,
                        "y": 5580.1181640625,
                        "z": 365.4895324707031
                    },
                    "rotation": {
                        "roll": 0.0005911191110499203,
                        "pitch": 0.6611008048057556,
                        "yaw": 179.88070678710938
                    }
                },
                "velocity": {
                    "x": -7.451835632324219,
                    "y": 0.019172903150320053,
                    "z": 0.04793223366141319
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.970589637756348,
                "transform": {
                    "location": {
                        "x": 175.5703125,
                        "y": 5576.90234375,
                        "z": 365.65142822265625
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": 0.7271692156791687,
                        "yaw": 179.8605194091797
                    }
                },
                "velocity": {
                    "x": -14.969080924987793,
                    "y": 0.036272868514060974,
                    "z": 0.20944570004940033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.821979284286499,
                "transform": {
                    "location": {
                        "x": 173.53671264648438,
                        "y": 5586.8525390625,
                        "z": 365.6686096191406
                    },
                    "rotation": {
                        "roll": 0.002698579803109169,
                        "pitch": -0.7714766263961792,
                        "yaw": -0.4046630561351776
                    }
                },
                "velocity": {
                    "x": 3.821599245071411,
                    "y": -0.00863728579133749,
                    "z": -0.05319567397236824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.161500930786133,
                "transform": {
                    "location": {
                        "x": 176.14991760253906,
                        "y": 5583.59716796875,
                        "z": 365.6736145019531
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -0.745972752571106,
                        "yaw": -0.0810241773724556
                    }
                },
                "velocity": {
                    "x": 8.160691261291504,
                    "y": -0.01184449065476656,
                    "z": -0.1143987849354744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.2686872482299805,
                "transform": {
                    "location": {
                        "x": 194.9999237060547,
                        "y": 5583.556640625,
                        "z": 365.4573669433594
                    },
                    "rotation": {
                        "roll": 0.0010235647205263376,
                        "pitch": -0.2485983818769455,
                        "yaw": -0.115936279296875
                    }
                },
                "velocity": {
                    "x": 5.268660545349121,
                    "y": -0.011012866161763668,
                    "z": -0.012626943178474903
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.2195258140563965,
                "transform": {
                    "location": {
                        "x": 191.58241271972656,
                        "y": 5586.81298828125,
                        "z": 365.4786682128906
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.3237031400203705,
                        "yaw": -0.1008606031537056
                    }
                },
                "velocity": {
                    "x": 4.219449043273926,
                    "y": -0.00877377949655056,
                    "z": -0.023892320692539215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.036403656005859,
                "transform": {
                    "location": {
                        "x": 208.9470977783203,
                        "y": 5583.26171875,
                        "z": 365.45513916015625
                    },
                    "rotation": {
                        "roll": 0.1106208935379982,
                        "pitch": -0.4292568862438202,
                        "yaw": -5.493625640869141
                    }
                },
                "velocity": {
                    "x": 3.9807493686676025,
                    "y": -0.6665281653404236,
                    "z": -0.0438804030418396
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.621463775634766,
                "transform": {
                    "location": {
                        "x": 205.855224609375,
                        "y": 5586.77978515625,
                        "z": 365.4627990722656
                    },
                    "rotation": {
                        "roll": 0.0005056866793893278,
                        "pitch": 0.05867815017700195,
                        "yaw": -0.134796142578125
                    }
                },
                "velocity": {
                    "x": 4.621450901031494,
                    "y": -0.010806123726069927,
                    "z": 0.001456575351767242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.243144989013672,
                "transform": {
                    "location": {
                        "x": 237.15975952148438,
                        "y": 5583.455078125,
                        "z": 365.5223388671875
                    },
                    "rotation": {
                        "roll": 2.7099446015199646e-05,
                        "pitch": 0.365415096282959,
                        "yaw": -0.1347961574792862
                    }
                },
                "velocity": {
                    "x": 13.242854118347168,
                    "y": -0.031152283772826195,
                    "z": 0.08200544118881226
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.54764175415039,
                "transform": {
                    "location": {
                        "x": 228.80992126464844,
                        "y": 5586.7265625,
                        "z": 365.48480224609375
                    },
                    "rotation": {
                        "roll": -0.00787353329360485,
                        "pitch": 0.2880290746688843,
                        "yaw": -0.1574706733226776
                    }
                },
                "velocity": {
                    "x": 13.547572135925293,
                    "y": -0.03676477074623108,
                    "z": 0.023073652759194374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.376482009887695,
                "transform": {
                    "location": {
                        "x": 216.85015869140625,
                        "y": 5530.4912109375,
                        "z": 365.8143005371094
                    },
                    "rotation": {
                        "roll": -0.016510039567947388,
                        "pitch": 0.49669817090034485,
                        "yaw": -89.86205291748047
                    }
                },
                "velocity": {
                    "x": 0.05769266560673714,
                    "y": -13.375859260559082,
                    "z": 0.1155402883887291
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006285494309850037,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.0012512203538790345,
                        "pitch": 0.9629814624786377,
                        "yaw": 179.8628692626953
                    }
                },
                "velocity": {
                    "x": 1.7952768757822923e-05,
                    "y": -1.07643281808123e-05,
                    "z": -0.000628200767096132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4442,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6468374133110046,
                "transform": {
                    "location": {
                        "x": 105.41616821289062,
                        "y": 5577.17041015625,
                        "z": 366.7945251464844
                    },
                    "rotation": {
                        "roll": 0.0005289348773658276,
                        "pitch": 0.9151018857955933,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -0.009801697917282581,
                    "y": 4.1636041714809835e-05,
                    "z": -0.6467631459236145
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005874997586943209,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 5.316614988259971e-05,
                    "y": 6.606555689359084e-05,
                    "z": -0.0005813472671434283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.33744698762893677,
                "transform": {
                    "location": {
                        "x": 105.42405700683594,
                        "y": 5580.42041015625,
                        "z": 366.7333984375
                    },
                    "rotation": {
                        "roll": 0.002039446961134672,
                        "pitch": 0.8984293937683105,
                        "yaw": 179.8623046875
                    }
                },
                "velocity": {
                    "x": -0.005344016011804342,
                    "y": -0.0001002684875857085,
                    "z": -0.33740466833114624
                },
                "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": 0.30636677145957947,
        "expert_target_speed": 10.0,
        "target_point": [
            16.38143883320141,
            0.6824814456975178
        ],
        "target_point_next": [
            17.38108012411607,
            0.7093747527263929
        ]
    },
    "800": {
        "acceleration": [
            -1.756134033203125,
            -0.11878281831741333,
            0.035541653633117676
        ],
        "angular_velocity": [
            -0.1401575803756714,
            0.39145830273628235,
            0.682483971118927
        ],
        "forward_vector": [
            -0.9995076656341553,
            0.02782590314745903,
            0.014496056362986565
        ],
        "right_vector": [
            -0.027819907292723656,
            -0.9996127486228943,
            0.000615125463809818
        ],
        "location": [
            172.81507873535156,
            5580.53466796875,
            365.6813659667969
        ],
        "rotation": [
            -0.035247802734375,
            0.8305919170379639,
            178.4053192138672
        ],
        "velocity": [
            -5.113207817077637,
            0.13350853323936462,
            0.07120077311992645
        ],
        "speed": 5.114950508956228,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.28958511352539,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                2.661242979229428e-05,
                -2.028490780503489e-05,
                -0.00021106505300849676
            ],
            "speed_kmh": 0.0007693239209542505,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.375295639038086,
                "transform": {
                    "location": {
                        "x": 204.06295776367188,
                        "y": 5580.15283203125,
                        "z": 365.4581604003906
                    },
                    "rotation": {
                        "roll": 0.0016376047860831022,
                        "pitch": 0.14243675768375397,
                        "yaw": -179.66839599609375
                    }
                },
                "velocity": {
                    "x": -5.375197410583496,
                    "y": -0.0315808542072773,
                    "z": 0.007394952699542046
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.6465911865234375,
                "transform": {
                    "location": {
                        "x": 201.19203186035156,
                        "y": 5576.8837890625,
                        "z": 365.4446105957031
                    },
                    "rotation": {
                        "roll": 0.00047159328823909163,
                        "pitch": 0.09491230547428131,
                        "yaw": -179.59515380859375
                    }
                },
                "velocity": {
                    "x": -7.64646577835083,
                    "y": -0.04362732172012329,
                    "z": -0.004044522996991873
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.580740451812744,
                "transform": {
                    "location": {
                        "x": 187.375,
                        "y": 5580.12255859375,
                        "z": 365.5025634765625
                    },
                    "rotation": {
                        "roll": 0.00022735708625987172,
                        "pitch": 0.43450927734375,
                        "yaw": -179.8978271484375
                    }
                },
                "velocity": {
                    "x": -6.580469131469727,
                    "y": 0.01575557515025139,
                    "z": 0.05764736980199814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.342167854309082,
                "transform": {
                    "location": {
                        "x": 171.75836181640625,
                        "y": 5576.91162109375,
                        "z": 365.7043151855469
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.7438144087791443,
                        "yaw": 179.8592529296875
                    }
                },
                "velocity": {
                    "x": -15.340655326843262,
                    "y": 0.037608418613672256,
                    "z": 0.21207688748836517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.741308212280273,
                "transform": {
                    "location": {
                        "x": 174.60726928710938,
                        "y": 5586.8486328125,
                        "z": 365.6536560058594
                    },
                    "rotation": {
                        "roll": 0.0010922487126663327,
                        "pitch": -0.7634238600730896,
                        "yaw": -0.26007080078125
                    }
                },
                "velocity": {
                    "x": 4.7408552169799805,
                    "y": -0.008379501290619373,
                    "z": -0.06498043239116669
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.816052436828613,
                "transform": {
                    "location": {
                        "x": 178.1268768310547,
                        "y": 5583.59423828125,
                        "z": 365.64678955078125
                    },
                    "rotation": {
                        "roll": 0.00027182206395082176,
                        "pitch": -0.8189054727554321,
                        "yaw": -0.0957336351275444
                    }
                },
                "velocity": {
                    "x": 7.815295696258545,
                    "y": -0.014564809389412403,
                    "z": -0.10779783874750137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.198172092437744,
                "transform": {
                    "location": {
                        "x": 195.8064727783203,
                        "y": 5583.5546875,
                        "z": 365.4573059082031
                    },
                    "rotation": {
                        "roll": 0.0011509861797094345,
                        "pitch": -0.8475649356842041,
                        "yaw": -0.1227416917681694
                    }
                },
                "velocity": {
                    "x": 3.198157548904419,
                    "y": -0.00685812346637249,
                    "z": -0.006860475521534681
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.16722297668457,
                "transform": {
                    "location": {
                        "x": 192.77694702148438,
                        "y": 5586.81103515625,
                        "z": 365.4735412597656
                    },
                    "rotation": {
                        "roll": 4.950196307618171e-05,
                        "pitch": -0.3682291507720947,
                        "yaw": -0.1052856370806694
                    }
                },
                "velocity": {
                    "x": 5.167171955108643,
                    "y": -0.009590820409357548,
                    "z": -0.02094586379826069
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.383742332458496,
                "transform": {
                    "location": {
                        "x": 209.958740234375,
                        "y": 5583.07861328125,
                        "z": 365.4471435546875
                    },
                    "rotation": {
                        "roll": 0.30580464005470276,
                        "pitch": -0.6462656259536743,
                        "yaw": -8.272866249084473
                    }
                },
                "velocity": {
                    "x": 4.256130695343018,
                    "y": -1.0493897199630737,
                    "z": -0.0364355705678463
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.377441883087158,
                "transform": {
                    "location": {
                        "x": 206.97921752929688,
                        "y": 5586.77685546875,
                        "z": 365.4635314941406
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.05925188958644867,
                        "yaw": -0.1331481784582138
                    }
                },
                "velocity": {
                    "x": 4.377429485321045,
                    "y": -0.01033047866076231,
                    "z": 0.0020200633443892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.224525451660156,
                "transform": {
                    "location": {
                        "x": 240.46484375,
                        "y": 5583.447265625,
                        "z": 365.5445251464844
                    },
                    "rotation": {
                        "roll": 0.00039567064959555864,
                        "pitch": 0.40522825717926025,
                        "yaw": -0.1229858323931694
                    }
                },
                "velocity": {
                    "x": 13.22409725189209,
                    "y": -0.028588024899363518,
                    "z": 0.10239965468645096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.469560623168945,
                "transform": {
                    "location": {
                        "x": 232.197265625,
                        "y": 5586.71728515625,
                        "z": 365.4944763183594
                    },
                    "rotation": {
                        "roll": -0.0031738278921693563,
                        "pitch": 0.28302252292633057,
                        "yaw": -0.153472900390625
                    }
                },
                "velocity": {
                    "x": 13.469404220581055,
                    "y": -0.036128949373960495,
                    "z": 0.05389442294836044
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.368969917297363,
                "transform": {
                    "location": {
                        "x": 216.8805389404297,
                        "y": 5527.1484375,
                        "z": 365.8433837890625
                    },
                    "rotation": {
                        "roll": -0.016967754811048508,
                        "pitch": 0.5049968361854553,
                        "yaw": -88.94842529296875
                    }
                },
                "velocity": {
                    "x": 0.2685718834400177,
                    "y": -13.36575984954834,
                    "z": 0.11701791733503342
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2733608754351735e-05,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.0008239743183366954,
                        "pitch": 0.9629678130149841,
                        "yaw": 179.8629608154297
                    }
                },
                "velocity": {
                    "x": 3.355860462761484e-05,
                    "y": 2.1015666789026e-06,
                    "z": -4.062310836161487e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021370108879636973,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 2.661242979229428e-05,
                    "y": -2.028490780503489e-05,
                    "z": -0.00021106505300849676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.07152661681175232,
                "transform": {
                    "location": {
                        "x": 105.42398071289062,
                        "y": 5580.42041015625,
                        "z": 366.72857666015625
                    },
                    "rotation": {
                        "roll": 0.0016964350361377,
                        "pitch": 0.8985591530799866,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": 0.0011745485244318843,
                    "y": 6.693210889352486e-05,
                    "z": 0.07151693850755692
                },
                "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": 0.3263271450996399,
        "expert_target_speed": 10.0,
        "target_point": [
            15.119115809213612,
            0.6592777781110621
        ],
        "target_point_next": [
            16.11879646405848,
            0.6846657436344546
        ]
    },
    "805": {
        "acceleration": [
            1.9402599334716797,
            -0.11363089084625244,
            -0.026493072509765625
        ],
        "angular_velocity": [
            0.014086510986089706,
            -0.6084081530570984,
            0.8087655305862427
        ],
        "forward_vector": [
            -0.9996322393417358,
            0.023130716755986214,
            0.01414966955780983
        ],
        "right_vector": [
            -0.023121656849980354,
            -0.9997323155403137,
            0.0008036614744924009
        ],
        "location": [
            171.54312133789062,
            5580.56591796875,
            365.698974609375
        ],
        "rotation": [
            -0.046051025390625,
            0.8107433915138245,
            178.67445373535156
        ],
        "velocity": [
            -4.9952473640441895,
            0.1072993278503418,
            0.07019098103046417
        ],
        "speed": 4.996399641116347,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.01759719848633,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                9.796619451662991e-06,
                -5.22009540873114e-05,
                -0.0008325190865434706
            ],
            "speed_kmh": 0.0030031616504844483,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7107834815979,
                "transform": {
                    "location": {
                        "x": 202.68875122070312,
                        "y": 5580.1455078125,
                        "z": 365.45806884765625
                    },
                    "rotation": {
                        "roll": 0.0019284108420833945,
                        "pitch": 0.0812041163444519,
                        "yaw": -179.7256317138672
                    }
                },
                "velocity": {
                    "x": -5.710691928863525,
                    "y": -0.03222012147307396,
                    "z": -0.0026690673548728228
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.997385025024414,
                "transform": {
                    "location": {
                        "x": 199.09803771972656,
                        "y": 5576.87548828125,
                        "z": 365.4443664550781
                    },
                    "rotation": {
                        "roll": 0.005423218943178654,
                        "pitch": 0.1141870990395546,
                        "yaw": -179.80323791503906
                    }
                },
                "velocity": {
                    "x": -8.997371673583984,
                    "y": -0.01447292324155569,
                    "z": 0.0054491423070430756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8389153480529785,
                "transform": {
                    "location": {
                        "x": 185.72718811035156,
                        "y": 5580.12353515625,
                        "z": 365.5184020996094
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.5809007287025452,
                        "yaw": -179.78981018066406
                    }
                },
                "velocity": {
                    "x": -6.838554382324219,
                    "y": 0.0019500474445521832,
                    "z": 0.07022195309400558
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.926000595092773,
                "transform": {
                    "location": {
                        "x": 168.0867156982422,
                        "y": 5576.92041015625,
                        "z": 365.75396728515625
                    },
                    "rotation": {
                        "roll": 0.00010903980728471652,
                        "pitch": 0.8975892663002014,
                        "yaw": 179.8588409423828
                    }
                },
                "velocity": {
                    "x": -13.924612998962402,
                    "y": 0.034266289323568344,
                    "z": 0.19360031187534332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.288830280303955,
                "transform": {
                    "location": {
                        "x": 175.88992309570312,
                        "y": 5586.84619140625,
                        "z": 365.6363220214844
                    },
                    "rotation": {
                        "roll": 0.0003788962494581938,
                        "pitch": -0.7723441123962402,
                        "yaw": -0.1537475734949112
                    }
                },
                "velocity": {
                    "x": 5.288320064544678,
                    "y": -0.0073840003460645676,
                    "z": -0.07309060543775558
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.856357574462891,
                "transform": {
                    "location": {
                        "x": 180.10960388183594,
                        "y": 5583.58984375,
                        "z": 365.61968994140625
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": -0.7709643840789795,
                        "yaw": -0.1019286960363388
                    }
                },
                "velocity": {
                    "x": 7.855729103088379,
                    "y": -0.013973914086818695,
                    "z": -0.09837371855974197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.559249401092529,
                "transform": {
                    "location": {
                        "x": 196.7948455810547,
                        "y": 5583.55224609375,
                        "z": 365.4527587890625
                    },
                    "rotation": {
                        "roll": 0.0005451643373817205,
                        "pitch": 0.03288735821843147,
                        "yaw": -0.1260375827550888
                    }
                },
                "velocity": {
                    "x": 4.559236526489258,
                    "y": -0.010005317628383636,
                    "z": -0.004193849395960569
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.69363260269165,
                "transform": {
                    "location": {
                        "x": 194.11007690429688,
                        "y": 5586.80810546875,
                        "z": 365.46832275390625
                    },
                    "rotation": {
                        "roll": 0.00027976944693364203,
                        "pitch": -0.27685487270355225,
                        "yaw": -0.0957031100988388
                    }
                },
                "velocity": {
                    "x": 5.693610668182373,
                    "y": -0.009477363899350166,
                    "z": -0.012516746297478676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0498881340026855,
                "transform": {
                    "location": {
                        "x": 211.12249755859375,
                        "y": 5582.76171875,
                        "z": 365.438232421875
                    },
                    "rotation": {
                        "roll": 0.7272586226463318,
                        "pitch": -0.6629927754402161,
                        "yaw": -12.965473175048828
                    }
                },
                "velocity": {
                    "x": 4.755605220794678,
                    "y": -1.698209285736084,
                    "z": -0.04091077670454979
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.181172847747803,
                "transform": {
                    "location": {
                        "x": 208.0496826171875,
                        "y": 5586.7744140625,
                        "z": 365.4642639160156
                    },
                    "rotation": {
                        "roll": 0.0006136166048236191,
                        "pitch": 0.057578492909669876,
                        "yaw": -0.1370849460363388
                    }
                },
                "velocity": {
                    "x": 4.1811604499816895,
                    "y": -0.009795851074159145,
                    "z": 0.002238387940451503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 243.83718872070312,
                        "y": 5583.37353515625,
                        "z": 365.5689392089844
                    },
                    "rotation": {
                        "roll": -5.211225548307219e-11,
                        "pitch": 0.5081114172935486,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.349607467651367,
                "transform": {
                    "location": {
                        "x": 235.54452514648438,
                        "y": 5586.70947265625,
                        "z": 365.5103759765625
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": 0.3050498962402344,
                        "yaw": -0.1407470554113388
                    }
                },
                "velocity": {
                    "x": 13.349370956420898,
                    "y": -0.033267341554164886,
                    "z": 0.07208667695522308
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 216.87960815429688,
                        "y": 5523.728515625,
                        "z": 365.8779602050781
                    },
                    "rotation": {
                        "roll": 2.6681467701905603e-08,
                        "pitch": 0.506192147731781,
                        "yaw": -87.83726501464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004848690005019307,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": 0.9629746675491333,
                        "yaw": 179.86297607421875
                    }
                },
                "velocity": {
                    "x": -2.7506052902026568e-06,
                    "y": -2.509397927497048e-05,
                    "z": -0.0004842113994527608
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008342115906998515,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 9.796619451662991e-06,
                    "y": -5.22009540873114e-05,
                    "z": -0.0008325190865434706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.015308666042983532,
                "transform": {
                    "location": {
                        "x": 105.42398071289062,
                        "y": 5580.42041015625,
                        "z": 366.7391052246094
                    },
                    "rotation": {
                        "roll": 0.001666148309595883,
                        "pitch": 0.8968788981437683,
                        "yaw": 179.86236572265625
                    }
                },
                "velocity": {
                    "x": 0.00027052030782215297,
                    "y": -0.000164867946295999,
                    "z": 0.015305387787520885
                },
                "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": 0.35086584091186523,
        "expert_target_speed": 10.0,
        "target_point": [
            13.849705915649528,
            0.590069311927927
        ],
        "target_point_next": [
            14.849494796648763,
            0.6107611918516909
        ]
    },
    "810": {
        "acceleration": [
            -1.8621540069580078,
            -0.03126099705696106,
            0.019689053297042847
        ],
        "angular_velocity": [
            0.048106320202350616,
            0.4109836220741272,
            0.5913131237030029
        ],
        "forward_vector": [
            -0.9996841549873352,
            0.02046191692352295,
            0.014590936712920666
        ],
        "right_vector": [
            -0.0204531978815794,
            -0.9997905492782593,
            0.0007466708775609732
        ],
        "location": [
            170.2637481689453,
            5580.59130859375,
            365.7165832519531
        ],
        "rotation": [
            -0.0427856482565403,
            0.8360287547111511,
            178.82740783691406
        ],
        "velocity": [
            -5.2048468589782715,
            0.09325331449508667,
            0.07212258875370026
        ],
        "speed": 5.205682184505725,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.73819351196289,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                3.219157224521041e-05,
                0.00010085739631904289,
                -6.755990762030706e-05
            ],
            "speed_kmh": 0.00045212406784274605,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.526575088500977,
                "transform": {
                    "location": {
                        "x": 201.09475708007812,
                        "y": 5580.13623046875,
                        "z": 365.4572448730469
                    },
                    "rotation": {
                        "roll": 0.00020654418040066957,
                        "pitch": 0.3003029227256775,
                        "yaw": -179.68807983398438
                    }
                },
                "velocity": {
                    "x": -7.526448726654053,
                    "y": -0.043322086334228516,
                    "z": -0.0052001094445586205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.273589134216309,
                "transform": {
                    "location": {
                        "x": 196.68038940429688,
                        "y": 5576.87158203125,
                        "z": 365.4460754394531
                    },
                    "rotation": {
                        "roll": 0.0029757849406450987,
                        "pitch": 0.16968238353729248,
                        "yaw": -179.92445373535156
                    }
                },
                "velocity": {
                    "x": -10.273574829101562,
                    "y": -0.01149711199104786,
                    "z": 0.012612180784344673
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.534798622131348,
                "transform": {
                    "location": {
                        "x": 184.00523376464844,
                        "y": 5580.125,
                        "z": 365.5359191894531
                    },
                    "rotation": {
                        "roll": 0.004007356707006693,
                        "pitch": 0.6508145332336426,
                        "yaw": -179.77696228027344
                    }
                },
                "velocity": {
                    "x": -6.534461498260498,
                    "y": 0.00949141476303339,
                    "z": 0.06568840146064758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.998956680297852,
                "transform": {
                    "location": {
                        "x": 164.7528839111328,
                        "y": 5576.92919921875,
                        "z": 365.8006591796875
                    },
                    "rotation": {
                        "roll": -0.0002746580576058477,
                        "pitch": 0.8993309736251831,
                        "yaw": 179.8530731201172
                    }
                },
                "velocity": {
                    "x": -12.997628211975098,
                    "y": 0.0331970676779747,
                    "z": 0.18283000588417053
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.979572296142578,
                "transform": {
                    "location": {
                        "x": 177.28640747070312,
                        "y": 5586.8427734375,
                        "z": 365.616943359375
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.7716951966285706,
                        "yaw": -0.1100463718175888
                    }
                },
                "velocity": {
                    "x": 5.978983402252197,
                    "y": -0.011102451011538506,
                    "z": -0.08319616317749023
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.933433532714844,
                "transform": {
                    "location": {
                        "x": 181.95420837402344,
                        "y": 5583.5869140625,
                        "z": 365.5967102050781
                    },
                    "rotation": {
                        "roll": 8.275251457234845e-05,
                        "pitch": -0.7766948938369751,
                        "yaw": -0.1020202562212944
                    }
                },
                "velocity": {
                    "x": 6.932877063751221,
                    "y": -0.012376704253256321,
                    "z": -0.08697463572025299
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.333827972412109,
                "transform": {
                    "location": {
                        "x": 198.07913208007812,
                        "y": 5583.5498046875,
                        "z": 365.45111083984375
                    },
                    "rotation": {
                        "roll": -3.051756721106358e-05,
                        "pitch": 0.2627573609352112,
                        "yaw": -0.1243286207318306
                    }
                },
                "velocity": {
                    "x": 5.3338141441345215,
                    "y": -0.01186528429389,
                    "z": -0.001889142906293273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.664376258850098,
                "transform": {
                    "location": {
                        "x": 195.59820556640625,
                        "y": 5586.8056640625,
                        "z": 365.4646911621094
                    },
                    "rotation": {
                        "roll": 0.0006526846555061638,
                        "pitch": -0.2036147564649582,
                        "yaw": -0.181976318359375
                    }
                },
                "velocity": {
                    "x": 6.664344310760498,
                    "y": -0.014551814645528793,
                    "z": -0.014444503001868725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.9244160652160645,
                "transform": {
                    "location": {
                        "x": 212.3798370361328,
                        "y": 5582.24755859375,
                        "z": 365.42633056640625
                    },
                    "rotation": {
                        "roll": 1.19670569896698,
                        "pitch": -0.27190297842025757,
                        "yaw": -20.093137741088867
                    }
                },
                "velocity": {
                    "x": 5.175609588623047,
                    "y": -2.88291335105896,
                    "z": -0.024170560762286186
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.018535614013672,
                "transform": {
                    "location": {
                        "x": 209.06951904296875,
                        "y": 5586.77197265625,
                        "z": 365.4612731933594
                    },
                    "rotation": {
                        "roll": -0.262542724609375,
                        "pitch": -0.0812724158167839,
                        "yaw": -0.1267089992761612
                    }
                },
                "velocity": {
                    "x": 4.018388271331787,
                    "y": -0.014468618668615818,
                    "z": -0.031245436519384384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 247.3082733154297,
                        "y": 5583.3310546875,
                        "z": 365.6004638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6169778108596802,
                        "yaw": -0.1376648098230362
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.381451606750488,
                "transform": {
                    "location": {
                        "x": 238.88601684570312,
                        "y": 5586.701171875,
                        "z": 365.5303955078125
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.37387770414352417,
                        "yaw": -0.1399535983800888
                    }
                },
                "velocity": {
                    "x": 13.38113021850586,
                    "y": -0.031037526205182076,
                    "z": 0.08739820122718811
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 217.0292205810547,
                        "y": 5520.25732421875,
                        "z": 365.90972900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5148254632949829,
                        "yaw": -86.47380828857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005914795328862965,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.9629610180854797,
                        "yaw": 179.86300659179688
                    }
                },
                "velocity": {
                    "x": -1.1406988051021472e-05,
                    "y": 2.6137162421946414e-05,
                    "z": -0.0005907916347496212
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012559001334011555,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 3.219157224521041e-05,
                    "y": 0.00010085739631904289,
                    "z": -6.755990762030706e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0019728471525013447,
                "transform": {
                    "location": {
                        "x": 105.42398071289062,
                        "y": 5580.42041015625,
                        "z": 366.7401123046875
                    },
                    "rotation": {
                        "roll": 0.0014241482131183147,
                        "pitch": 0.8965920805931091,
                        "yaw": 179.8624267578125
                    }
                },
                "velocity": {
                    "x": 1.9651204638648778e-05,
                    "y": 0.00014819021453149617,
                    "z": -0.00196717563085258
                },
                "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": 0.3618646264076233,
        "expert_target_speed": 10.0,
        "target_point": [
            12.57160681439547,
            0.5523020575481039
        ],
        "target_point_next": [
            13.571447366957392,
            0.5703250960584183
        ]
    },
    "815": {
        "acceleration": [
            -1.6717147827148438,
            -0.01487046480178833,
            0.017444640398025513
        ],
        "angular_velocity": [
            0.06702791899442673,
            0.5054802298545837,
            0.5879824161529541
        ],
        "forward_vector": [
            -0.9997271299362183,
            0.017947478219866753,
            0.014950552023947239
        ],
        "right_vector": [
            -0.017939958721399307,
            -0.9998388886451721,
            0.0006369568291120231
        ],
        "location": [
            168.9796905517578,
            5580.61279296875,
            365.73431396484375
        ],
        "rotation": [
            -0.0364990197122097,
            0.8566354513168335,
            178.9715118408203
        ],
        "velocity": [
            -5.286179542541504,
            0.08215650171041489,
            0.07362121343612671
        ],
        "speed": 5.2868179320606075,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.45410919189453,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                5.240246537141502e-05,
                6.810729973949492e-05,
                -0.00023191096261143684
            ],
            "speed_kmh": 0.0008903529813253036,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9610161781311035,
                "transform": {
                    "location": {
                        "x": 199.07662963867188,
                        "y": 5580.12841796875,
                        "z": 365.4571533203125
                    },
                    "rotation": {
                        "roll": 0.012010414153337479,
                        "pitch": 0.16934086382389069,
                        "yaw": -179.80117797851562
                    }
                },
                "velocity": {
                    "x": -7.960987567901611,
                    "y": -0.02119050733745098,
                    "z": 0.0021837044041603804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.42989730834961,
                "transform": {
                    "location": {
                        "x": 193.95936584472656,
                        "y": 5576.87060546875,
                        "z": 365.4523620605469
                    },
                    "rotation": {
                        "roll": 0.0035590536426752806,
                        "pitch": 0.2762811481952667,
                        "yaw": -179.99765014648438
                    }
                },
                "velocity": {
                    "x": -11.429804801940918,
                    "y": 0.007457899861037731,
                    "z": 0.04528364911675453
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8067845106124878,
                "transform": {
                    "location": {
                        "x": 183.0089874267578,
                        "y": 5580.126953125,
                        "z": 365.5465393066406
                    },
                    "rotation": {
                        "roll": -0.015502930618822575,
                        "pitch": 0.0023017735220491886,
                        "yaw": -179.15968322753906
                    }
                },
                "velocity": {
                    "x": -0.8066830039024353,
                    "y": 0.006434217561036348,
                    "z": 0.011061696335673332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.212162017822266,
                "transform": {
                    "location": {
                        "x": 161.48475646972656,
                        "y": 5576.93798828125,
                        "z": 365.8476867675781
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.8100125789642334,
                        "yaw": 179.8538360595703
                    }
                },
                "velocity": {
                    "x": -13.210749626159668,
                    "y": 0.03393387421965599,
                    "z": 0.19018393754959106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.260842800140381,
                "transform": {
                    "location": {
                        "x": 178.95022583007812,
                        "y": 5586.83984375,
                        "z": 365.59368896484375
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.7557399272918701,
                        "yaw": -0.062072742730379105
                    }
                },
                "velocity": {
                    "x": 7.26014518737793,
                    "y": -0.01086062379181385,
                    "z": -0.10005424171686172
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7460784912109375,
                "transform": {
                    "location": {
                        "x": 183.36827087402344,
                        "y": 5583.58447265625,
                        "z": 365.58026123046875
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": -0.890895664691925,
                        "yaw": -0.126190185546875
                    }
                },
                "velocity": {
                    "x": 4.745724201202393,
                    "y": -0.009734516963362694,
                    "z": -0.05718395113945007
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.286346435546875,
                "transform": {
                    "location": {
                        "x": 199.48773193359375,
                        "y": 5583.546875,
                        "z": 365.4506530761719
                    },
                    "rotation": {
                        "roll": 0.00031204603146761656,
                        "pitch": 0.35918596386909485,
                        "yaw": -0.1262817531824112
                    }
                },
                "velocity": {
                    "x": 6.2863311767578125,
                    "y": -0.013845797628164291,
                    "z": -0.001394510269165039
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.3881707191467285,
                "transform": {
                    "location": {
                        "x": 197.27093505859375,
                        "y": 5586.80126953125,
                        "z": 365.4606628417969
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.05371260643005371,
                        "yaw": -0.1589660346508026
                    }
                },
                "velocity": {
                    "x": 6.388149261474609,
                    "y": -0.015644904226064682,
                    "z": -0.005505428183823824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.96669340133667,
                "transform": {
                    "location": {
                        "x": 213.71311950683594,
                        "y": 5581.45361328125,
                        "z": 365.41827392578125
                    },
                    "rotation": {
                        "roll": 1.2844676971435547,
                        "pitch": 0.3197826147079468,
                        "yaw": -29.77853775024414
                    }
                },
                "velocity": {
                    "x": 5.458001613616943,
                    "y": -4.329551696777344,
                    "z": -0.004194183275103569
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.8144683837890625,
                "transform": {
                    "location": {
                        "x": 210.15695190429688,
                        "y": 5586.7685546875,
                        "z": 365.4538269042969
                    },
                    "rotation": {
                        "roll": -0.250335693359375,
                        "pitch": -0.46416595578193665,
                        "yaw": -0.1380004733800888
                    }
                },
                "velocity": {
                    "x": 4.814234733581543,
                    "y": -0.012666796334087849,
                    "z": -0.04570235311985016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 242.30764770507812,
                        "y": 5586.6455078125,
                        "z": 365.5561218261719
                    },
                    "rotation": {
                        "roll": -5.211225548307219e-11,
                        "pitch": 0.5081114172935486,
                        "yaw": -0.137664794921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4447,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 217.23272705078125,
                        "y": 5516.7900390625,
                        "z": 365.94140625
                    },
                    "rotation": {
                        "roll": -2.668153875617918e-08,
                        "pitch": 0.5234656929969788,
                        "yaw": -85.1103515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012525959173217416,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.9629610180854797,
                        "yaw": 179.86300659179688
                    }
                },
                "velocity": {
                    "x": 2.1466612452059053e-05,
                    "y": 8.099330443656072e-06,
                    "z": -0.001252385787665844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024732027668505907,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 5.240246537141502e-05,
                    "y": 6.810729973949492e-05,
                    "z": -0.00023191096261143684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008863798575475812,
                "transform": {
                    "location": {
                        "x": 105.42398071289062,
                        "y": 5580.42041015625,
                        "z": 366.7398986816406
                    },
                    "rotation": {
                        "roll": 0.001331540523096919,
                        "pitch": 0.8963735103607178,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 1.196965513372561e-05,
                    "y": 2.745273377513513e-05,
                    "z": -0.0008858737419359386
                },
                "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": 0.37360793352127075,
        "expert_target_speed": 10.0,
        "target_point": [
            11.28871987484134,
            0.5191120381177357
        ],
        "target_point_next": [
            12.288602598091515,
            0.5346201073169399
        ]
    },
    "820": {
        "acceleration": [
            -0.24091720581054688,
            -0.06393268704414368,
            0.03216251730918884
        ],
        "angular_velocity": [
            0.059477485716342926,
            -0.018964605405926704,
            0.6029267311096191
        ],
        "forward_vector": [
            -0.9997822046279907,
            0.015401523560285568,
            0.014084468595683575
        ],
        "right_vector": [
            -0.015395321883261204,
            -0.9998813271522522,
            0.0005485566216520965
        ],
        "location": [
            167.68515014648438,
            5580.63232421875,
            365.7525329589844
        ],
        "rotation": [
            -0.0314330980181694,
            0.8070073127746582,
            179.117431640625
        ],
        "velocity": [
            -5.136473178863525,
            0.06662683188915253,
            0.07280950248241425
        ],
        "speed": 5.1369052796320815,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.15953826904297,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                1.0082721928483807e-05,
                -4.08054402214475e-05,
                -0.001308169332332909
            ],
            "speed_kmh": 0.004711839955354139,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4472,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.599642276763916,
                "transform": {
                    "location": {
                        "x": 207.42710876464844,
                        "y": 5576.9267578125,
                        "z": 365.6549987792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03673958405852318,
                        "yaw": 179.86231994628906
                    }
                },
                "velocity": {
                    "x": -5.244143486022949,
                    "y": 0.012600095011293888,
                    "z": -1.9633630514144897
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.490270614624023,
                "transform": {
                    "location": {
                        "x": 197.24609375,
                        "y": 5580.125,
                        "z": 365.4577941894531
                    },
                    "rotation": {
                        "roll": 0.00666978070512414,
                        "pitch": -0.10138048976659775,
                        "yaw": -179.88067626953125
                    }
                },
                "velocity": {
                    "x": -6.4902567863464355,
                    "y": -0.011526691727340221,
                    "z": 0.006793374661356211
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.330232620239258,
                "transform": {
                    "location": {
                        "x": 191.0174102783203,
                        "y": 5576.87255859375,
                        "z": 365.4652404785156
                    },
                    "rotation": {
                        "roll": 0.0022007322404533625,
                        "pitch": 0.3613511323928833,
                        "yaw": 179.94183349609375
                    }
                },
                "velocity": {
                    "x": -12.330069541931152,
                    "y": 0.011328833177685738,
                    "z": 0.06250464916229248
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8264995217323303,
                "transform": {
                    "location": {
                        "x": 182.9160919189453,
                        "y": 5580.126953125,
                        "z": 365.5486145019531
                    },
                    "rotation": {
                        "roll": 0.0011104295263066888,
                        "pitch": 0.48643237352371216,
                        "yaw": -179.17144775390625
                    }
                },
                "velocity": {
                    "x": -0.8264166712760925,
                    "y": -0.0027947314083576202,
                    "z": 0.01136295311152935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.277779579162598,
                "transform": {
                    "location": {
                        "x": 158.16639709472656,
                        "y": 5576.9462890625,
                        "z": 365.8955078125
                    },
                    "rotation": {
                        "roll": -0.00015258797793649137,
                        "pitch": 0.8180858492851257,
                        "yaw": 179.8534698486328
                    }
                },
                "velocity": {
                    "x": -13.27633285522461,
                    "y": 0.032773878425359726,
                    "z": 0.19328540563583374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.167929649353027,
                "transform": {
                    "location": {
                        "x": 180.8649139404297,
                        "y": 5586.8369140625,
                        "z": 365.5685729980469
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.7079422473907471,
                        "yaw": -0.079254150390625
                    }
                },
                "velocity": {
                    "x": 8.167285919189453,
                    "y": -0.011599945835769176,
                    "z": -0.10190758109092712
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.252119064331055,
                "transform": {
                    "location": {
                        "x": 184.63531494140625,
                        "y": 5583.58154296875,
                        "z": 365.5650329589844
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.655390739440918,
                        "yaw": -0.12762451171875
                    }
                },
                "velocity": {
                    "x": 5.2518768310546875,
                    "y": -0.01169957872480154,
                    "z": -0.049054186791181564
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.407421588897705,
                "transform": {
                    "location": {
                        "x": 201.03350830078125,
                        "y": 5583.54296875,
                        "z": 365.4515686035156
                    },
                    "rotation": {
                        "roll": 0.0005484335124492645,
                        "pitch": 0.09730970114469528,
                        "yaw": -0.1199646070599556
                    }
                },
                "velocity": {
                    "x": 5.407405853271484,
                    "y": -0.01296223048120737,
                    "z": 0.001647529541514814
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.034702301025391,
                "transform": {
                    "location": {
                        "x": 198.65835571289062,
                        "y": 5586.79736328125,
                        "z": 365.4583435058594
                    },
                    "rotation": {
                        "roll": 0.0006157114403322339,
                        "pitch": 0.13466399908065796,
                        "yaw": -0.1468810737133026
                    }
                },
                "velocity": {
                    "x": 4.0346903800964355,
                    "y": -0.00962170958518982,
                    "z": -0.0011426449054852128
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.100028991699219,
                "transform": {
                    "location": {
                        "x": 215.10069274902344,
                        "y": 5580.19482421875,
                        "z": 365.42315673828125
                    },
                    "rotation": {
                        "roll": 1.6956719160079956,
                        "pitch": 0.668286144733429,
                        "yaw": -42.77198791503906
                    }
                },
                "velocity": {
                    "x": 5.139819145202637,
                    "y": -6.260148048400879,
                    "z": 0.057185590267181396
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.464431285858154,
                "transform": {
                    "location": {
                        "x": 211.45054626464844,
                        "y": 5586.7646484375,
                        "z": 365.443359375
                    },
                    "rotation": {
                        "roll": -0.0926818698644638,
                        "pitch": -0.848268449306488,
                        "yaw": -0.135009765625
                    }
                },
                "velocity": {
                    "x": 5.4633469581604,
                    "y": -0.0024067668709903955,
                    "z": -0.10882987082004547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4451,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 245.779052734375,
                        "y": 5586.587890625,
                        "z": 365.5852966308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6169778108596802,
                        "yaw": -0.1376648098230362
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00029756996082141995,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.9629610180854797,
                        "yaw": 179.86300659179688
                    }
                },
                "velocity": {
                    "x": 1.389235239912523e-05,
                    "y": -5.797606354462914e-05,
                    "z": -0.00029153673676773906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013088444247841835,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 1.0082721928483807e-05,
                    "y": -4.08054402214475e-05,
                    "z": -0.001308169332332909
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.402671664953232e-05,
                "transform": {
                    "location": {
                        "x": 105.42398071289062,
                        "y": 5580.42041015625,
                        "z": 366.7398986816406
                    },
                    "rotation": {
                        "roll": 0.001331540523096919,
                        "pitch": 0.8963735103607178,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 3.105834184680134e-05,
                    "y": 1.4297993402578868e-05,
                    "z": -7.67556848586537e-05
                },
                "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": 0.38575243949890137,
        "expert_target_speed": 10.0,
        "target_point": [
            9.995317427967914,
            0.4899547644991996
        ],
        "target_point_next": [
            10.995236398067245,
            0.5029167743730882
        ]
    },
    "825": {
        "acceleration": [
            0.19817352294921875,
            -0.037732794880867004,
            -0.0022467970848083496
        ],
        "angular_velocity": [
            0.03915807977318764,
            0.018977325409650803,
            0.550728976726532
        ],
        "forward_vector": [
            -0.999814510345459,
            0.012877130880951881,
            0.014322862960398197
        ],
        "right_vector": [
            -0.012871179729700089,
            -0.9999170899391174,
            0.000507546414155513
        ],
        "location": [
            166.39828491210938,
            5580.64794921875,
            365.77044677734375
        ],
        "rotation": [
            -0.02908325381577015,
            0.8206676840782166,
            179.26210021972656
        ],
        "velocity": [
            -5.152246475219727,
            0.05454189330339432,
            0.07248241454362869
        ],
        "speed": 5.1525351584961765,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.87263488769531,
        "front_vehicle_info": {
            "id": 4441,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                115.53257751464844,
                5580.39697265625,
                366.5717468261719
            ],
            "velocity": [
                3.2809821277623996e-05,
                -8.960505510913208e-06,
                -0.00020757081802003086
            ],
            "speed_kmh": 0.000757219754788014,
            "color": "73,0,0"
        },
        "other_vehicles": [
            {
                "id": 4472,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.9784770011901855,
                "transform": {
                    "location": {
                        "x": 206.15530395507812,
                        "y": 5576.9208984375,
                        "z": 365.3884582519531
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": -0.039977096021175385,
                        "yaw": -179.80532836914062
                    }
                },
                "velocity": {
                    "x": -4.975056171417236,
                    "y": -0.06485402584075928,
                    "z": 0.17274825274944305
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4471,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.009558102115988731,
                "transform": {
                    "location": {
                        "x": 196.49734497070312,
                        "y": 5580.12353515625,
                        "z": 365.4582824707031
                    },
                    "rotation": {
                        "roll": 0.002148600295186043,
                        "pitch": -0.9836769700050354,
                        "yaw": -179.89755249023438
                    }
                },
                "velocity": {
                    "x": -0.009460048750042915,
                    "y": -0.0002521329734008759,
                    "z": 0.0013420959003269672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4470,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.444062232971191,
                "transform": {
                    "location": {
                        "x": 187.7765655517578,
                        "y": 5576.876953125,
                        "z": 365.48773193359375
                    },
                    "rotation": {
                        "roll": 0.002483511110767722,
                        "pitch": 0.5821506381034851,
                        "yaw": 179.90045166015625
                    }
                },
                "velocity": {
                    "x": -13.443560600280762,
                    "y": 0.025284666568040848,
                    "z": 0.1132899671792984
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4469,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8130183219909668,
                "transform": {
                    "location": {
                        "x": 182.578125,
                        "y": 5580.126953125,
                        "z": 365.55316162109375
                    },
                    "rotation": {
                        "roll": 0.0114528713747859,
                        "pitch": 0.7687513828277588,
                        "yaw": -179.4146728515625
                    }
                },
                "velocity": {
                    "x": -1.8128916025161743,
                    "y": -0.0015293912729248405,
                    "z": 0.021380290389060974
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4468,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.224234580993652,
                "transform": {
                    "location": {
                        "x": 154.8553924560547,
                        "y": 5576.9541015625,
                        "z": 365.9439697265625
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.8451129198074341,
                        "yaw": 179.86923217773438
                    }
                },
                "velocity": {
                    "x": -13.22275447845459,
                    "y": 0.03162481635808945,
                    "z": 0.19532234966754913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4467,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.333503723144531,
                "transform": {
                    "location": {
                        "x": 182.99850463867188,
                        "y": 5586.83349609375,
                        "z": 365.541748046875
                    },
                    "rotation": {
                        "roll": 0.001029464416205883,
                        "pitch": -0.6631498336791992,
                        "yaw": -0.0895080417394638
                    }
                },
                "velocity": {
                    "x": 8.332901954650879,
                    "y": -0.014904419891536236,
                    "z": -0.09906776994466782
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4466,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.412460803985596,
                "transform": {
                    "location": {
                        "x": 185.97984313964844,
                        "y": 5583.5791015625,
                        "z": 365.55108642578125
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.5132750272750854,
                        "yaw": -0.178741455078125
                    }
                },
                "velocity": {
                    "x": 5.41219425201416,
                    "y": -0.01332166325300932,
                    "z": -0.05201658606529236
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4461,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0535411834716797,
                "transform": {
                    "location": {
                        "x": 201.84288024902344,
                        "y": 5583.5400390625,
                        "z": 365.454833984375
                    },
                    "rotation": {
                        "roll": 0.007264954037964344,
                        "pitch": -0.6900949478149414,
                        "yaw": -0.15838623046875
                    }
                },
                "velocity": {
                    "x": 3.053497314453125,
                    "y": -0.01610397920012474,
                    "z": 0.002950496505945921
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4460,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8254928588867188,
                "transform": {
                    "location": {
                        "x": 199.42037963867188,
                        "y": 5586.79541015625,
                        "z": 365.4586181640625
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": 0.14008717238903046,
                        "yaw": -0.1454772800207138
                    }
                },
                "velocity": {
                    "x": 2.825483560562134,
                    "y": -0.00715922936797142,
                    "z": 0.0013426590012386441
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4457,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.07899284362793,
                "transform": {
                    "location": {
                        "x": 216.345458984375,
                        "y": 5578.4638671875,
                        "z": 365.4417419433594
                    },
                    "rotation": {
                        "roll": 1.606431484222412,
                        "pitch": 0.6382333040237427,
                        "yaw": -57.14664077758789
                    }
                },
                "velocity": {
                    "x": 4.0589094161987305,
                    "y": -8.120697021484375,
                    "z": 0.08749151229858398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.812142848968506,
                "transform": {
                    "location": {
                        "x": 212.87928771972656,
                        "y": 5586.76220703125,
                        "z": 365.4075012207031
                    },
                    "rotation": {
                        "roll": 0.2005610466003418,
                        "pitch": -1.5408905744552612,
                        "yaw": -0.0912475436925888
                    }
                },
                "velocity": {
                    "x": 5.810379981994629,
                    "y": -0.008587125688791275,
                    "z": -0.1428890973329544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4443,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 115.44944763183594,
                        "y": 5577.14697265625,
                        "z": 366.572998046875
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.9629610180854797,
                        "yaw": 179.86300659179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4441,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021033882512710989,
                "transform": {
                    "location": {
                        "x": 115.53257751464844,
                        "y": 5580.39697265625,
                        "z": 366.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.9618476629257202,
                        "yaw": 179.86257934570312
                    }
                },
                "velocity": {
                    "x": 3.2809821277623996e-05,
                    "y": -8.960505510913208e-06,
                    "z": -0.00020757081802003086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4440,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010306872427463531,
                "transform": {
                    "location": {
                        "x": 105.42398071289062,
                        "y": 5580.42041015625,
                        "z": 366.7398986816406
                    },
                    "rotation": {
                        "roll": 0.001331540523096919,
                        "pitch": 0.8963735103607178,
                        "yaw": 179.86245727539062
                    }
                },
                "velocity": {
                    "x": 1.3391375432547648e-05,
                    "y": 1.2129712558817118e-05,
                    "z": -0.0010305288014933467
                },
                "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": 0.3873302638530731,
        "expert_target_speed": 10.0,
        "target_point": [
            8.70956311248557,
            0.46376314755744275
        ],
        "target_point_next": [
            9.709511627512487,
            0.47419999382137845
        ]
    }
}